Rotary cable management system for sensor platforms

ABSTRACT

Cable management systems for rotatable sensors on an autonomous vehicle (AV) are described herein. In some examples, a rotatable cable assembly can include a first portion having a spool, a sidewall surrounding the spool to form a cavity, and a shaft extending from the spool; a second portion coupled to the shaft and configured to rotate relative to the first portion; a flexible cable stored by the spool in a coiled configuration within the cavity; a first circuit on the first portion including a first connector coupled to an end of the flexible cable and configured to connect to components on an AV and/or a sensor platform base that is coupled to the AV and includes the rotary cable assembly; and a second circuit on the second portion including a second connector coupled to another end of the flexible cable and configured to rotate with the second portion.

TECHNICAL FIELD

The present disclosure generally relates to cable management systems forsensor implementations on autonomous vehicles.

BACKGROUND

An autonomous vehicle is a motorized vehicle that can navigate without ahuman driver. An exemplary autonomous vehicle can include varioussensors, such as a camera sensor, a light detection and ranging (LIDAR)sensor, and a radio detection and ranging (RADAR) sensor, amongstothers. The sensors collect data and measurements that the autonomousvehicle can use for operations such as navigation. The sensors canprovide the data and measurements to an internal computing system of theautonomous vehicle, which can use the data and measurements to control amechanical system of the autonomous vehicle, such as a vehiclepropulsion system, a braking system, or a steering system. Typically,the sensors are mounted at fixed locations on the autonomous vehicles.

The field of view and coverage of sensors can depend on theircapabilities and placement (e.g., location, angle, etc.). In the contextof autonomous vehicles, the field of view and coverage of sensors canalso be significantly impacted by changes in motion, driving angles anddirection, as well as changes in their environment, including relativechanges in the motion, angle, and position of surrounding objects. Forexample, as an autonomous vehicle travels and performs various drivingmaneuvers, the position and perspective of the sensors relative to thevehicle's surroundings also change. The changes in the relative positionand perspective of the sensors can create blind spots and reduce theirfield of coverage, thereby limiting what the sensors can “see” ordetect. However, autonomous vehicles need to have a robust understandingof their environment to safely operate, and because they largely rely onsensors to navigate and understand their environment, a sensor blindspot or reduced field of coverage can create significant risks to humanlives and property.

BRIEF DESCRIPTION OF THE DRAWINGS

The various advantages and features of the present technology willbecome apparent by reference to specific implementations illustrated inthe appended drawings. A person of ordinary skill in the art willunderstand that these drawings only show some examples of the presenttechnology and would not limit the scope of the present technology tothese examples. Furthermore, the skilled artisan will appreciate theprinciples of the present technology as described and explained withadditional specificity and detail through the use of the accompanyingdrawings in which:

FIG. 1 illustrates an example autonomous vehicle environment including acomputing system in communication with an autonomous vehicle;

FIG. 2 is a block diagram of an example sensor positioning platform formechanically moving, rotating, and/or positioning a payload of sensorson an autonomous vehicle, in accordance with some examples;

FIG. 3A illustrates an example configuration of a sensor positioningplatform, in accordance with some examples;

FIG. 3B illustrates an assembled view of the sensor positioning platformshown in FIG. 3A, in accordance with some examples;

FIG. 4 illustrates another example configuration of a sensor positioningplatform, in accordance with some examples;

FIG. 5A illustrates an example assembled configuration of a sensorpositioning platform, in accordance with some examples;

FIG. 5B illustrates another example assembled configuration of a sensorpositioning platform, in accordance with some examples;

FIG. 6A illustrates an example implementation of a sensor positioningplatform configured with a liquid cleaning system and an air cleaningsystem, in accordance with some examples;

FIG. 6B illustrates another example implementation of a sensorpositioning platform configured with a liquid cleaning system and an aircleaning system, in accordance with some examples;

FIG. 7A illustrates an example bearing architecture for an actuatorsystem, in accordance with some examples;

FIG. 7B illustrates another example bearing architecture for an actuatorsystem, in accordance with some examples;

FIG. 8A illustrates an example rotary cable assembly that can be used toprovide power and data connectivity to sensors on a sensor carrierstructure of a sensor positioning platform, in accordance with someexamples;

FIG. 8B illustrates an example rotary cable assembly with a portionremoved to depict an example configuration of an interior of the rotarycable assembly, in accordance with some examples;

FIG. 9 illustrates an example configuration of a autonomous vehicle withsensor positioning platforms on each side of the autonomous vehicle, inaccordance with some examples;

FIG. 10 illustrates an example use of sensor positioning platforms on anautonomous vehicle, in accordance with some examples;

FIG. 11 illustrates an example method for implementing a sensorpositioning platform on an autonomous vehicle, in accordance with someexamples;

FIG. 12 illustrates an example method for implementing a rotary cableassembly on a sensor positioning platform, in accordance with someexamples; and

FIG. 13 illustrates an example computing system architecture forimplementing various aspects of the present technology.

DETAILED DESCRIPTION

Various examples of the present technology are discussed in detailbelow. While specific implementations are discussed, it should beunderstood that this is done for illustration purposes only. A personskilled in the relevant art will recognize that other components andconfigurations may be used without parting from the spirit and scope ofthe present technology. In some instances, well-known structures anddevices are shown in block diagram form in order to facilitatedescribing one or more aspects. Further, it is to be understood thatfunctionality that is described as being carried out by certain systemcomponents may be performed by more or fewer components than shown.

The disclosed technologies address a need in the art for improvements invehicle sensor technologies and capabilities. In some examples, a sensorpositioning platform on an autonomous vehicle can include multipleco-located sensors that can be dynamically rotated or repositioned foroptimal sensor coverage. The sensors can be mounted on a rotating sensorcarrier structure of the sensor positioning platform, which functions asan azimuth positioning stage for the sensors. The sensor positioningplatform can include a motor for moving, repositioning, and/or rotatingthe sensors and sensor carrier structure, and electrical components forcontrolling the movement, repositioning, and/or rotation of the sensorsand sensor carrier structure through the motor. The sensor positioningplatform can also include a sensor cleaning system that allows thesensors in the rotating sensor carrier structure to be cleaned asneeded, a cable management system that interconnects the sensors withother electrical components of the autonomous vehicle and provides afreedom of movement that enables the sensors to remain connected whenrotating, and other components as described herein.

The sensor positioning platform can receive (e.g., from a computingsystem on the autonomous vehicle) commands for moving, repositioning,and/or rotating the sensors and sensor carrier structure. Thus, throughthe sensor positioning platform, the sensors can be repositioned toincrease sensor coverage, provide instantaneous field of view, andtarget specific areas or objects. The sensors can also be repositionedto account for changes in the vehicle's motion, driving angles anddirection, as well as relative changes in the vehicle's environment andthe motion, angle, and position of surrounding objects. The dynamic andadaptable sensor repositioning herein can improve the sensors'visibility, accuracy, and detection capabilities. The sensorrepositioning platform can allow autonomous vehicles to monitor theirsurroundings and obtain a robust understanding of their environment. Thesensor repositioning platform and associated functionality can alsoprovide benefits in cost, sensor data redundancy, and sensor fusion.

FIG. 1 illustrates an example autonomous vehicle environment 100. Theexample autonomous vehicle environment 100 includes an autonomousvehicle 102, a remote computing system 150, and a ridesharingapplication 170. The autonomous vehicle 102, remote computing system150, and ridesharing application 170 can communicate with each otherover one or more networks, such as a public network (e.g., a publiccloud, the Internet, etc.), a private network (e.g., a local areanetwork, a private cloud, a virtual private network, etc.), and/or ahybrid network (e.g., a multi-cloud or hybrid cloud network, etc.).

The autonomous vehicle 102 can navigate about roadways without a humandriver based on sensor signals generated by sensors 104-108 on theautonomous vehicle 102. The sensors 104-108 on the autonomous vehicle102 can include one or more types of sensors and can be arranged aboutthe autonomous vehicle 102. For example, the sensors 104-108 caninclude, without limitation, one or more inertial measuring units(IMUs), one or more image sensors (e.g., visible light image sensors,infrared image sensors, video camera sensors, surround view camerasensors, etc.), one or more light emitting sensors, one or more globalpositioning system (GPS) devices, one or more radars, one or more lightdetection and ranging sensors (LIDARs), one or more sonars, one or moreaccelerometers, one or more gyroscopes, one or more magnetometers, oneor more altimeters, one or more tilt sensors, one or more motiondetection sensors, one or more light sensors, one or more audio sensors,etc. In some implementations, sensor 104 can be a radar, sensor 106 canbe a first image sensor (e.g., a visible light camera), and sensor 108can be a second image sensor (e.g., a thermal camera). Otherimplementations can include any other number and type of sensors.

The autonomous vehicle 102 can include several mechanical systems thatare used to effectuate motion of the autonomous vehicle 102. Forinstance, the mechanical systems can include, but are not limited to, avehicle propulsion system 130, a braking system 132, and a steeringsystem 134. The vehicle propulsion system 130 can include an electricmotor, an internal combustion engine, or both. The braking system 132can include an engine brake, brake pads, actuators, and/or any othersuitable componentry configured to assist in decelerating the autonomousvehicle 102. The steering system 134 includes suitable componentryconfigured to control the direction of movement of the autonomousvehicle 102 during navigation.

The autonomous vehicle 102 can include a safety system 136. The safetysystem 136 can include lights and signal indicators, a parking brake,airbags, etc. The autonomous vehicle 102 can also include a cabin system138, which can include cabin temperature control systems, in-cabinentertainment systems, etc.

The autonomous vehicle 102 can include an internal computing system 110in communication with the sensors 104-108 and the systems 130, 132, 134,136, and 138. The internal computing system 110 includes one or moreprocessors and at least one memory for storing instructions executableby the one or more processors. The computer-executable instructions canmake up one or more services for controlling the autonomous vehicle 102,communicating with remote computing system 150, receiving inputs frompassengers or human co-pilots, logging metrics regarding data collectedby sensors 104-108 and human co-pilots, etc.

The internal computing system 110 can include a control service 112configured to control operation of the vehicle propulsion system 130,the braking system 132, the steering system 134, the safety system 136,and the cabin system 138. The control service 112 can receive sensorsignals from the sensors 104-108 can communicate with other services ofthe internal computing system 110 to effectuate operation of theautonomous vehicle 102. In some examples, control service 112 may carryout operations in concert with one or more other systems of autonomousvehicle 102.

The internal computing system 110 can also include a constraint service114 to facilitate safe propulsion of the autonomous vehicle 102. Theconstraint service 116 includes instructions for activating a constraintbased on a rule-based restriction upon operation of the autonomousvehicle 102. For example, the constraint may be a restriction onnavigation that is activated in accordance with protocols configured toavoid occupying the same space as other objects, abide by traffic laws,circumvent avoidance areas, etc. In some examples, the constraintservice 114 can be part of the control service 112.

The internal computing system 110 can also include a communicationservice 116. The communication service 116 can include software and/orhardware elements for transmitting and receiving signals to and from theremote computing system 150. The communication service 116 can beconfigured to transmit information wirelessly over a network, forexample, through an antenna array or interface that provides cellular(long-term evolution (LTE), 3 Generation (3G), 5 Generation (5G), etc.)communication.

In some examples, one or more services of the internal computing system110 are configured to send and receive communications to remotecomputing system 150 for reporting data for training and evaluatingmachine learning algorithms, requesting assistance from remote computingsystem 150 or a human operator via remote computing system 150, softwareservice updates, ridesharing pickup and drop off instructions, etc.

The internal computing system 110 can also include a latency service118. The latency service 118 can utilize timestamps on communications toand from the remote computing system 150 to determine if a communicationhas been received from the remote computing system 150 in time to beuseful. For example, when a service of the internal computing system 110requests feedback from remote computing system 150 on a time-sensitiveprocess, the latency service 118 can determine if a response was timelyreceived from remote computing system 150, as information can quicklybecome too stale to be actionable. When the latency service 118determines that a response has not been received within a thresholdperiod of time, the latency service 118 can enable other systems ofautonomous vehicle 102 or a passenger to make decisions or provideneeded feedback.

The internal computing system 110 can also include a user interfaceservice 120 that can communicate with cabin system 138 to provideinformation or receive information to a human co-pilot or passenger. Insome examples, a human co-pilot or passenger can be asked or requestedto evaluate and override a constraint from constraint service 114. Inother examples, the human co-pilot or passenger may wish to provide aninstruction to the autonomous vehicle 102 regarding destinations,requested routes, or other requested operations.

As described above, the remote computing system 150 can be configured tosend and receive signals to and from the autonomous vehicle 102. Thesignals can include, for example and without limitation, data reportedfor training and evaluating services such as machine learning services,data for requesting assistance from remote computing system 150 or ahuman operator, software service updates, rideshare pickup and drop offinstructions, etc.

The remote computing system 150 can include an analysis service 152configured to receive data from autonomous vehicle 102 and analyze thedata to train or evaluate machine learning algorithms for operating theautonomous vehicle 102. The analysis service 152 can also performanalysis pertaining to data associated with one or more errors orconstraints reported by autonomous vehicle 102.

The remote computing system 150 can also include a user interfaceservice 154 configured to present metrics, video, images, soundsreported from the autonomous vehicle 102 to an operator of remotecomputing system 150, maps, routes, navigation data, notifications, userdata, vehicle data, software data, and/or any other content. Userinterface service 154 can receive, from an operator, input instructionsfor the autonomous vehicle 102.

The remote computing system 150 can also include an instruction service156 for sending instructions regarding the operation of the autonomousvehicle 102. For example, in response to an output of the analysisservice 152 or user interface service 154, instructions service 156 canprepare instructions to one or more services of the autonomous vehicle102 or a co-pilot or passenger of the autonomous vehicle 102.

The remote computing system 150 can also include a rideshare service 158configured to interact with ridesharing applications 170 operating oncomputing devices, such as tablet computers, laptop computers,smartphones, head-mounted displays (HMDs), gaming systems, servers,smart devices, smart wearables, and/or any other computing devices. Insome cases, such computing devices can be passenger computing devices.The rideshare service 158 can receive from passenger ridesharing app 170requests, such as user requests to be picked up or dropped off, and candispatch autonomous vehicle 102 for a requested trip.

The rideshare service 158 can also act as an intermediary between theridesharing app 170 and the autonomous vehicle 102. For example,rideshare service 158 can receive from a passenger instructions for theautonomous vehicle 102, such as instructions to go around an obstacle,change routes, honk the horn, etc. The rideshare service 158 can providesuch instructions to the autonomous vehicle 102 as requested.

The remote computing system 150 can also include a package service 162configured to interact with the ridesharing application 170 and/or adelivery service 172 of the ridesharing application 170. A useroperating ridesharing application 170 can interact with the deliveryservice 172 to specify information regarding a package to be deliveredusing the autonomous vehicle 102. The specified information can include,for example and without limitation, package dimensions, a packageweight, a destination address, delivery instructions (e.g., a deliverytime, a delivery note, a delivery constraint, etc.), and so forth.

The package service 162 can interact with the delivery service 172 toprovide a package identifier to the user for package labeling andtracking. Package delivery service 172 can also inform a user of whereto bring their labeled package for drop off. In some examples, a usercan request the autonomous vehicle 102 come to a specific location, suchas the user's location, to pick up the package. While delivery service172 has been shown as part of the ridesharing application 170, it willbe appreciated by those of ordinary skill in the art that deliveryservice 172 can be its own separate application.

One beneficial aspect of utilizing autonomous vehicle 102 for bothridesharing and package delivery is increased utilization of theautonomous vehicle 102. Instruction service 156 can continuously keepthe autonomous vehicle 102 engaged in a productive itinerary betweenrideshare trips by filling what otherwise would have been idle time withproductive package delivery trips.

FIG. 2 is a block diagram of an example sensor positioning platform 200for mechanically moving, rotating, and/or positioning sensors 104-108 ona sensor carrier structure 220 implemented by the autonomous vehicle102. The sensor positioning platform 200 can be attached to, coupledwith, and/or otherwise secured to the autonomous vehicle 102. The sensorcarrier structure 220 with the sensors 104-108 can be situated outsideof the autonomous vehicle 102 in order to have access to, and/orvisibility into, the external or outside environment (e.g., outside orexternal to the autonomous vehicle 102) so the sensors 104-108 cancapture sensor data or measurements pertaining to the outsideenvironment, conditions or characteristics of the outside environment,objects or humans located in the outside environment, etc.

In addition to providing the sensors 104-108 access to, and/orvisibility into, the external or outside environment, as furtherdescribed herein, the sensor positioning platform 200 can mechanicallymove, rotate, and/or reposition the sensor carrier structure 220 toallow the sensors 104-108 on the sensor carrier structure 220 to capturesensor data or measurements for different areas or regions of theoutside environment, extend the addressable field of regard, extendand/or provide an instantaneous field of view, provide sensor visibilityor access into a focused or specific area or object, account fordifferent angles, account for different vehicle maneuvers, etc. Thesensor data or measurements can be used to detect objects (e.g., othervehicles, obstacles, traffic signals, signs, etc.), humans, animals,conditions (e.g., weather conditions, visibility conditions, trafficconditions, road conditions, etc.), route or navigation conditions,and/or any other data or characteristics associated with the outsideenvironment.

In some examples, the autonomous vehicle 102 can use the sensor data ormeasurements to perform (or when performing) one or more operations,such as mapping operations, tracking operations, navigation or steeringoperations, safety operations, braking operations, maneuvers, etc. Forexample, the autonomous vehicle 102 can use the sensor data ormeasurements to gain insight or visibility into the outside environmentand the outside environment conditions. The autonomous vehicle 102 canthen use such insight when making navigation decisions, such asdetermining a velocity, determining a maneuver, determining how to avoidan object, determining a trajectory, determining navigation changes(e.g., changes in position, velocity, angle, direction, etc.), and soforth.

The sensor positioning platform 200 can include a base 202. The base 202can include an actuator system 204 and one or more rotary cableassemblies 216. Moreover, the one or more rotary cable assemblies 216can include power and/or communication lines (e.g., cables, wires,flexible printed circuits, etc.) for supplying power to the sensors104-108 on the sensor carrier structure 220 and carrying data to and/orfrom the sensors 104-108.

In some examples, the one or more rotary cable assemblies 216 can feedpower and communication lines to the sensors 104-108 for powering thesensors 104-108 and communicatively connecting (directly or indirectly)the sensors 104-108 to the internal computing system 110 and/or theactuator system 204, while allowing the sensors 104-108 to have freedomof movement in order to rotate with the sensor carrier structure 220while receiving power and remaining communicatively connected to theinternal computing system 110 and/or the actuator system 204.

In some cases, the one or more rotary cable assemblies 216 can includedata lines that connect the sensors 104-108 to a communications device244 and/or an image processing engine 246. The data lines can allow thesensors 104-108 to communicate with the communications device 244 tosend and receive data signals (e.g., sensor data, instructions,commands, information, etc.) to and from the communications device 244.Moreover, the data lines can allow image sensors (106, 108) on thesensor carrier structure 220 to provide, to the image processing engine,image data (e.g., images, videos, frames, etc.) captured by such imagesensors.

The communications device 244 can include, for example and withoutlimitation, a network interface, a switch, a hub, a relay/proxy, or anyother network device capable of switching, forwarding, and/or routingdata. In some implementations, the communications device 244 can supportnetwork communications over or across one or more networks, such as aprivate network (e.g., a LAN), a public network (e.g., a WAN, a cloudnetwork, etc.), a hybrid network, etc. For example, the communicationsdevice 244 can support wireless communications, such as cellularcommunications, WIFI communications, etc.; wired or cablecommunications, such as Ethernet communications, fiber opticcommunications, etc.; and/or any other type of communications.

The communications device 244 can be communicatively connected with theinternal computing system 110 and/or any other computing device, and canthus send and/or receive data to and/or from the internal computingsystem 110 and/or any other computing devices. Thus, the communicationsdevice 244 can route or forward data between the sensors 104-108 and theinternal computing system 110 (or any other computing device). Moreover,in some cases, the communications device 244 can be part of, orimplemented by, the internal computing system 110.

The image processing engine 246 can be part of, or implemented by, theinternal computing system 110 or a separate computing device. Moreover,in some cases, the image processing engine 246 can be part of, orimplemented by, a same computing system as the communications device244. For example, both the image processing engine 246 and thecommunications device 244 can be part of, or implemented by, theinternal computing system 110 or a separate computing device.

The image processing engine 246 can receive image data (e.g., images,frames, videos, etc.) from image sensors (e.g., 106, 108) on the sensorcarrier structure 220 and perform one or more image processing and/orpre-processing operations on the image data, such as, for example andwithout limitation, filtering, scaling, sub-sampling, color correction,color conversion, geometric transformations, noise reduction,demosaicing, spatial filtering, image restoration, image enhancement,frame rate conversion (e.g., up-conversion, down-conversion),segmentation, feature extraction, etc. The image processing engine 246can then provide the processed image data to the internal computingsystem 110 for further use, processing, analysis, etc.

The actuator system 204 can be configured to control a position, angle,and/or movement of the sensor carrier structure 220 and the sensors104-108 on the sensor carrier structure 220. For example, the actuatorsystem 204 can include a motor 212 for controlling the positioning,rotation, and/or movement of the sensor carrier structure 220 hostingthe sensors 104-108, as further described herein. The motor 212 on theactuator system 204 can receive, from a motor controller 240, a commandinstructing the motor 212 to move or rotate the sensor carrier structure220 with the sensors 104-108 to a specific angle and/or position inorder to change the angle, position, and/or field-of-view (FOV) of thesensors 104-108 on the sensor carrier structure 220.

In some examples, the motor 212 can be an electrical motor capable ofconverting electrical energy into mechanical energy that the motor 212can use to move the sensor carrier structure 220 and the sensors 104-108in the sensor carrier structure 220. In some implementations, the motor212 can be a gimbal motor. Moreover, the motor controller 240 caninclude one or more electronic circuits (e.g., one or moremicroprocessors, microcontrollers, central processing units (CPUs),graphics processing units (GPUs), digital signal processors (DSPs),and/or any other suitable electronic circuits or hardware), and/or caninclude and/or can be implemented using computer software, firmware, orany combination thereof, to perform the various operations describedherein.

In some examples, the motor controller 240 can include one or morecomputing and/or electronic components, such as one or more CPUs,Input/Output (I/O) ports or peripherals, timers, memories (e.g.,electrically erasable programmable read-only memory (EEPROM), read-onlymemory (ROM), random-access memory, and the like), controllers,processors, storage devices, and/or any other electronic circuits orhardware. Moreover, the motor controller 240 can include memory (notshown), such as EEPROM, for storing data, firmware, software, and/or anycombination thereof.

The motor controller 240 can send control signals to the motor 212 tomove, rotate, and/or control the motor 212, which can then move, rotate,and/or position the sensor carrier structure 220 with the sensors104-108 to a specific position, angle, and/or location. In some cases,the motor controller 240 can generate the control signals based on,and/or in response to, one or more commands or instructions received bythe motor controller 240 from the internal computing system 110 on theautonomous vehicle 102. For example, the internal computing system 110can send commands or instructions to the motor controller 240 formechanically moving, rotating, and/or positioning the sensor carrierstructure 220 with the sensors 104-108 and/or the motor 212 on thesensor positioning platform 200. The motor controller 240 can receivesuch commands or instructions, parse the commands or instructions,generate one or more control signals based on the commands orinstructions, and send the one or more control signals to the motor 212on the actuator system 204, which can cause the motor 212 to move thesensor carrier structure 220 with the sensors 104-108 to a specificposition, angle, and/or location.

In some cases, when generating control signals, the motor controller 240can calculate a difference between a requested position (e.g., specifiedin the commands or instructions received from the internal computingsystem 110) of the motor 212 (and the sensor carrier structure 220 withthe sensors 104-108) and an actual or current position of the motor 212(and the sensor carrier structure 220 with the sensors 104-108). Forexample, the motor controller 240 can obtain sensor data from a positionsensor 208 in the actuator system 204, which can include measurements ofa current or actual position of the motor 212, and use such measurementsto determine a current or actual position of the motor 212. The motorcontroller 240 can use the current or actual position of the motor 212to calculate an error or difference between the current or actualposition of the motor 212 and the requested position for repositioningthe motor 212 (and the sensor carrier structure 220 with the sensors104-108).

The motor controller 240 can then use the calculated error or differenceto make any adjustments to the position defined in the one or morecontrol signals for the motor 212. In some cases, the motor controller240 can continuously receive position measurements from the positionsensor 208 to calculate such errors or differences, and make adjustmentsto the position specified in the control signals to the motor 212. Thisway, the motor controller 240 can fine tune the position specified inthe control signals to the motor 212 to account for any such errors andincrease an accuracy of the position adjustments of the motor 212 (andthe sensor carrier structure 220 of sensors 104-108).

The position sensor 208 used to obtain position measurements for themotor 212 can include one or more sensor devices, which can include anytype of sensor, encoder, transducer, detector, transmitter, and/orsensing component capable of measuring the position (e.g., linear,angular, etc.) and/or change of position of a target or object, such asthe motor 212. Non-limiting examples of position sensors (208) that canbe used to obtain position measurements (e.g., displacement, linearposition, angular position, etc.) for the motor 212 include opticalencoders, potentiometers, magnetic position sensors (e.g., Hall effectsensors, magnetorestrictive position sensors, etc.), rotary encoders,linear encoders, capacitive position sensors, inductive position sensors(e.g., resolvers, linearly variable differential transformers, etc.),fiber-optic position sensors, photodiode arrays, incoders, etc. Theseexamples are not exhaustive and are simply provided for explanationpurposes, as any other types of position sensors are also contemplatedherein.

The position sensor 208 can reside under the motor 212, along an outsideof the motor 212, along an outside of a rotor of the motor 212, along anoutside of a stator of the motor 212, and/or in any other location thatallows the position sensor 208 to obtain positioning measurements forthe motor 212 and fit within an assembly (e.g., 202) of the actuatorsystem 204. For example, in some implementations, the position sensor208 can determine the position of the motor 212 using a multi-polemagnetic strip. The multi-pole magnetic strip can be located on anoutside of the motor 212, a rotor of the motor 212, a stator of themotor 212, and/or any other location that allows the multi-pole magneticstrip to determine the position of the motor 212. In some cases, themulti-pole magnetic strip can sit flush along the outside of the rotorof the motor 212.

In some examples, when generating control signals for the motor 212, themotor controller 240 can translate the control signals into a format andpower level that can move the motor 212 to a specific position. Thespecific position can be defined in the one or more control signals aspreviously explained. The motor controller 240 can transmit thetranslated signals to the motor 212 in order to move the motor 212 tothe specific position. Based on the translated signal from the motorcontroller 240, the motor 212 can move the sensor carrier structure 220containing the sensors 104-108 in order to move or reposition thesensors 104-108 to the specific position.

In some examples, the motor controller 240 can be electrically coupledwith a fuse box 242. The fuse box 242 can control the electrical flowand power to the motor controller 240. Moreover, the motor controller240 can be communicatively connected to the internal computing system110. The internal computing system 110 and the motor controller 240 canthus communicate data (e.g., instructions, commands, signals, sensordata, motor repositioning data, requests, information, content, etc.) toeach other. In some cases, the motor controller 240 can send and/orreceive data (e.g., instructions, commands, signals, sensor data, motorrepositioning data, requests, information, content, etc.) to and/or fromother devices through the internal computing system 110. For example,the motor controller 240 can send and/or receive data from sensors(e.g., 104-108), a remote computing system (e.g., 150), and/or any otherremote device or location, through the internal computing system 150.Here, the internal computing system 150 can relay such data to and/orfrom the motor controller 240. In other cases, the motor controller 240can communicate directly (or without going through the internalcomputing system 110) with other remote devices or locations.

In some examples, the motor controller 240 can include a communicationinterface that supports network communications to allow the motorcontroller 240 to communicate over one or more networks, such as aprivate network (e.g., a LAN), a public network (e.g., a WAN, a cloudnetwork, etc.), a hybrid network, etc. For example, the motor controller240 can include a communication interface that supports wirelesscommunications, such as cellular communications, WIFI communications,etc.; wired or cable communications, such as Ethernet communications,fiber optic communications, etc.; and/or any other type ofcommunications.

The sensor carrier structure 220 can be attached, coupled, or otherwisesecured to the base 202 in a manner that allows the sensor carrierstructure 220 to rotate and/or move relative to the base 202. Moreover,the sensors 104-108 can be attached, coupled, fixed, or otherwisesecured to the sensor carrier structure 220 via a coupling or securingcomponent, such as a sensor bracket 222. In some examples, the sensors104-108 can be co-located on the sensor carrier structure 220. Thus, bymoving or repositioning the sensor carrier structure 220, the motor 212can also move or reposition the sensors 104-108 on the sensor carrierstructure 220. Also, by affixing and/or co-locating the sensors 104-108on the sensor carrier structure 220, any need to calibrate the sensors104-108 or monitor their relative position can be reduced or eliminated,as the position (actual and relative) of the sensors 104-108 can befixed and known.

The sensor carrier structure 220 can include, for example and withoutlimitation, an articulating or positioning stage, frame, or platform forthe sensors 104-108. For example, the sensor carrier structure 220 canbe an azimuth positioning stage for the sensors 104-108. Moreover, insome examples, the sensor carrier structure 220 can be attached,coupled, fixed or otherwise secured to the actuator system 204.

In some cases, the base 202 and/or the sensor carrier structure 220 canbe attached, coupled, fixed, placed, or otherwise secured to an externalportion of the autonomous vehicle 102 to provide the sensors 104-108access to, and/or visibility into, the outside or external environment.For example, the base 202 and the sensor carrier structure 220 can besecurely placed on a pillar, such as an A-pillar, of the autonomousvehicle 102. In this example, the base 202 and the sensor carrierstructure 202 can reside on an outside of the autonomous vehicle 102between the windshield, the hood of the autonomous vehicle 102, and thepassenger or driver's side. Thus, the sensors 104-108 can reside outsideof the autonomous vehicle 102 and have access to, and/or visibilityinto, the outside or external environment.

In other cases, a portion of the base 202 and/or the sensor carrierstructure 220 can be attached, coupled, fixed, placed, or otherwisesecured to an internal portion of the autonomous vehicle 102, withanother portion of the base 202 and/or the sensor carrier structure 220extending, extruding, protruding, projecting and/or sticking out fromthe autonomous vehicle 102 to an outside of the autonomous vehicle 102.This way, the sensors 104-108 can reside outside of the autonomousvehicle 102 and thus have access to, and/or visibility into, the outsideor external environment.

The motor 212 can move the sensor carrier structure 220 and the sensors104-108 any number of times as previously described, in order to adjustthe position or angle of the sensors 104-108 as desired and thus thevisibility and/or coverage of the sensors 104-108. For example, themotor 212 can move the sensor carrier structure 220 and the sensors104-108 as requested, periodically (e.g., at specific or random timeintervals), randomly, and/or in response to one or more events, such asa maneuver of the autonomous vehicle 102, a change in position or motionof the autonomous vehicle 102, a detected human or object (e.g., anothervehicle, a traffic sign, an object on the road, a guardrail, etc.), adetected condition (e.g., a condition of the autonomous vehicle 102, acondition of the external environment, a traffic condition, a roadcondition, a safety condition or threat, etc.), a navigationinstruction, a predicted navigation event, etc.

The actuator system 204 can include bearings 210 to support movement of,and reduce friction between, one or more moving parts of the motor 212,such as a rotor and a stator. The bearings 210 can also provideincreased axial, radial, and moment load capacity to the motor 212.Moreover, the bearings 210 can be in contact with one or more elementsor portions of the motor 212, as further described herein.

In some examples, the actuator system 204 can also include a shaft seal214 to seal rotary elements (and/or elements in relative motion) in theactuator system 204, such as the motor 212, a shaft of the motor 212, arotor of the motor 212, a rotating bore of the motor 212, etc. In somecases, the shaft seal 214 can be located between the sensor carrierstructure 220 and the actuator system 204. In other cases, the shaftseal 214 can be located between the actuator system 204 and the base 202and/or between the sensor carrier structure 220 and the base 202.

In some implementations, the actuator system 204 can optionally includea brake 206. The brake 206 can be configured to hold and/or control amovement of the motor 212. In some cases, the brake 206 can beconfigured to control and/or manage a holding torque of the motor 212.Moreover, in some examples, the brake 206 in the actuator system 204 canbe implemented below the motor 212 and the position sensor 208.

In some implementations, the base 202 can house the actuator system 204and the rotary cable assembly 216 and can have a small and/orcylindrical form factor. In other examples, the base 202 can have anyother size, shape or design. Moreover, the base 202 can have one or morehollow sections, such as a hollow shaft, for cables to pass through(e.g., from the bottom and through the middle of the assembly) theassembly to the rotary cable assembly 216, to the top of the base 202,and/or to the sensors 104-108 on the sensor carrier structure 220.

In some cases, one or more of the electronic components or hardware inthe base 202 and/or the actuator system 204 can be implemented by one ormore printed circuit boards (PCBs) or electronic circuits. Moreover, insome examples, the base 202 and/or the actuator system 204 can include amemory or storage device for storing data, a power supply for poweringelectronic components, a communication interface for communicating withother devices, and/or one or more processing components.

In some implementations, the sensor positioning platform 200 can includea surround view camera 230. The surround view camera 230 can be includedin, mounted on, coupled with, or otherwise secured to the base 202 ofthe sensor positioning platform 200. In some cases, the sensorpositioning platform 200 can also include cleaning systems 218A-B forcleaning one or more of the sensors 104-108 on the sensor carrierstructure 220. For example, the sensor positioning platform 200 caninclude a liquid cleaning system 218A and an air cleaning system 218Bfor using liquid and air to clean image sensors (e.g., 106, 108) on thesensor carrier structure 220. The liquid cleaning system 218A and theair cleaning system 218B can each include a discharge element such as anozzle, vent, or spraying device for controlling and enabling the flow,discharge, and/or projection of liquid and/or air to the sensors on thesensor carrier structure 220.

The liquid cleaning system 218A and the air cleaning system 218B canalso include a hose, pipe, tube, enclosed chamber, or enclosed carrierelement, which can be attached, coupled, connected, affixed, or securedto the discharge element and can carry, provide, and/or direct liquidand air to the liquid cleaning system 218A and the air cleaning system218B. The discharge elements in the liquid cleaning system 218A and theair cleaning system 218B can receive liquid and air from theirrespective hoses, pipes, tubes, enclosed chambers, or enclosed carrierelements, and can output (e.g., discharge, spray and/or project) thereceived liquid and air towards sensors on the sensor carrier structure220 in order to clean those sensors.

In some implementations, the liquid cleaning system 218A and the aircleaning system 218B can be positioned on a stationary portion of thesensor positioning platform 200, such as a stationary portion of thebase 202, as further described herein. The liquid cleaning system 218Aand air cleaning system 218B can output the liquid and air when thesensors 104-108 on the sensor carrier structure 220 move or rotatewithin an output range of the liquid cleaning system 218A and aircleaning system 218B. In some examples, the liquid cleaning system 218Aand air cleaning system 218B can output the liquid and air as sensorsrotate or move within an output range.

In other examples, the actuator system 204 can move the sensors (e.g.,by moving the sensor carrier structure 220) within an output range ofthe liquid cleaning system 218A and air cleaning system 218B when asensor cleaning operation is to be performed. In some cases, theactuator system 204 can also move or rotate such sensors several timeswithin a range of the liquid cleaning system 218A and air cleaningsystem 218B to change the positioning of the sensors, increase acoverage of the cleaning liquid and air on the sensors and/or ensureoptimal cleaning of the sensors.

In other implementations, the liquid cleaning system 218A and aircleaning system 218B can be positioned on a rotating portion of thesensor positioning platform 200, such as the sensor carrier structure220, as further described herein. The liquid cleaning system 218A andthe air cleaning system 218B can be positioned on the rotating portionat a respective location relative to the sensors 104-108 on the sensorcarrier structure 220. The respective location can be within an outputrange that allows liquid and air outputted by the liquid cleaning system218A and air cleaning system 218B to reach and clean sensors on thesensor carrier structure 220.

In some examples, the motor controller 240, the fuse box 242, thecommunications device 244, and/or the image processing engine 246described above can be part of, or implemented by, the sensorpositioning platform 200. In other examples, the motor controller 240,the fuse box 242, the communications device 244, and/or the imageprocessing engine 246 described above can be separate from the sensorpositioning platform 200.

While the sensor positioning platform 200 and the actuator system 204are shown in FIG. 2 to include certain components, one of ordinary skillwill appreciate that the sensor positioning platform 200 and/or theactuator system 204 can include more or fewer components than thoseshown in FIG. 2. For example, in some instances, the sensor positioningplatform 200 and/or the actuator system 204 can include one or moredifferent or additional components such as one or more memory components(e.g., one or more RAMs, ROMs, caches, buffers, and/or the like), one ormore processing devices that are not shown in FIG. 2, one or moretransistors, one or more data communication components (e.g., networkinterfaces, communication devices, antennas, etc.), one or more storagedevices (e.g., one or more hard drives, one or more solid-state drives,and/or the like), one or more circuits that are not shown in FIG. 2, oneor more sensors that are not shown in FIG. 2, and/or any otherelectronic or mechanical component.

FIG. 3A illustrates an example configuration 300 of a sensor positioningplatform 200. The configuration 300 in this example is depicted in acutaway view showing an interior of the base 202. As shown, the sensorpositioning platform 200 can include the sensor carrier structure 220,which includes or contains the sensors 104-108; and the base 202, whichincludes or houses the actuator system 204.

The sensor carrier structure 220 can include the sensors 104-108, asensor bracket 222 for holding, securing, affixing, and/or restrainingthe sensors 104-108 to the sensor carrier structure 220, and one or moreconnector elements 310C, 310D for providing power and/or dataconnectivity to the sensors 104-108 on the sensor carrier structure 220.The one or more connector elements 310C, 310D can connect to one or moreconnector elements on the rotary cable assembly 216 to provide powerand/or data connectivity to the sensors 104-108.

In some examples, the sensor bracket 222 can be secured, affixed,coupled, attached, and/or connected to a base 312, which provides aplatform or stage for the sensor carrier structure 220. The base 312 canbe moved and/or rotated by the actuator system 204, which can apply aforce to the base 312 to move and/or rotate the base 312. As the base312 is moved or rotated by the actuator system 204, the sensor carrierstructure 220 and sensors 104-108 can move and/or rotate (e.g., relativeto the base 202) along with the base 312.

The base 202 can include the actuator system 204 for moving, rotating,and/or repositioning the sensor carrier structure 220 and the sensors104-108 on the sensor carrier structure 220. The base 202 can alsoinclude one or more rotary cable assemblies 216 and one or more housingstructures 308 for the one or more rotary cable assemblies 216. Therotary cable assemblies 216 can include one or more electricalconnectors which can connect to connector elements 310B and 310C toallow the rotary cable assemblies 216 to provide power and dataconnectivity to the sensors 104-108.

The actuator system 204 can include, without limitation, a rotor 302, arotor shaft 303, a stator 304, a lower stator housing 305A, an upperstator housing 305B, a position sensor 208 or encoder, bearings 210,seals 214, and springs 306. In some cases, the actuator system 204 caninclude one or more other components such as, for example, a brake, apower supply, a controller, etc.

In some cases, the base 202 can include a securing element (not shown)for securing, attaching, coupling, or affixing the sensor positioningplatform 200 to the autonomous vehicle 102. In some examples, thesecuring element can be a rotating or articulating element or memberthat can rotate, pivot, or reposition the base 202 (and thus the sensorcarrier structure 220 and sensors 104-108) along an axis of rotation ormotion such as a roll axis (e.g., Z axis).

In some examples, a portion, element or joint of the actuator system 204and/or the base 202 can be attached, connected or coupled to the sensorcarrier structure 220 (and/or to the base 312 of the sensor carrierstructure 220) to allow the actuator system 204 to control the position,angle, orientation, and/or movement of the sensor carrier structure 220.For example, in some cases, a top portion of the actuator system 204,such as the rotor shaft 303 and/or the upper stator housing 305B, caninterface with the base 312 of the sensor carrier structure 220 toenable the actuator system 204 to move and control the position, angle,orientation and/or movement of the sensor carrier structure 220 and thesensors 104-108 on the sensor carrier structure 220.

In some examples, the base 202 or a portion of the base 202 (e.g., aportion of the actuator system 204) can interface or connect to thesensor carrier structure 220 to allow the actuator system 204 on thebase 202 to apply force to the sensor carrier structure 220 in order tomove and/or rotate the sensor carrier structure 220 and the sensors104-108. In other examples, the base 202 can have an opening that allowsthe sensor carrier structure 220 and the actuator system 204 or aportion of the actuator system 204 to make contact and/or be secured,coupled, connected, and/or attached to each other. Moreover, in someimplementations, the sensor carrier structure 220 and the actuatorsystem 204 can be connected, secured, attached, and/or coupled through,from, or at a top portion of the base 202. However, in otherimplementations, the sensor carrier structure 220 and the actuatorsystem 204 can be connected, secured, attached, and/or coupled through,from, or at any other portion or location of the base 202.

As previously noted, the actuator system 204 can exert force (e.g., viathe motor 212) on the sensor carrier structure 220 (or the base 312 ofthe sensor carrier structure 220) in order to adjust or control theposition, angle, orientation, and/or movement of the sensor carrierstructure 220. For example, the actuator system 204 can exert force onthe base 312 of the sensor carrier structure 220 to rotate the sensorcarrier structure 220 to a requested or specified position or angle. Asthe base 312 and the sensor carrier structure 220 rotate, the sensors104-108 can also rotate with the base 312 and sensor carrier structure220. Thus, such rotation of the base 312 and sensor carrier structure220 can reposition the sensors 104-108 and adjust the orientation,position, field of view and/or coverage of the sensors 104-108.

The sensors 104-108 can be affixed, coupled, secured, connected, and/orattached to the sensor carrier structure 220 via the sensor bracket 222,such that the sensors 104-108 can move with the sensor carrier structure220 when the sensor carrier structure 220 is rotated, repositioned, orotherwise moved by the actuator system 204. The sensor carrier structure220 can thus serve as a positioning stage or platform for the sensors104-108. For example, in some cases, the sensor carrier structure 220can serve as an azimuth positioning stage for the sensors 104-108.Moreover, in some examples, the sensors 104-108 can be fixed orstatically secured to the sensor carrier structure 220 such that thesensors 104-108 maintain the same (or substantially the same) location,position, angle, view, etc., relative to each other and the sensorcarrier structure 220.

In some cases, the sensor carrier structure 220 can rotate along ahorizontal or yaw axis (e.g., X axis) and thus can provide the sensors104-108 rotational movement along the horizontal or yaw axis. In othercases, the sensor carrier structure 220 can rotate along various axesand thus can provide the sensors 104-108 multiple degrees of freedom.For example, in some cases, the sensor carrier structure 220 can rotatealong a horizontal or yaw axis (e.g., X axis) and a vertical or pitchaxis (e.g., Y axis) and thereby provide the sensors 104-108 rotationalmovement along the horizontal or yaw axis as well as the vertical orpitch axis. In some cases, the sensor carrier structure 220 can alsoextend up or down or otherwise move the sensors 104-108 up or down toadjust the altitude or height of the sensors 104-108.

In some examples, the base 202 can include hollow space to run airand/or liquid hoses through the base 202 and to liquid and/or aircleaning systems (e.g., 218A, 218B) that can output the air and/orliquid towards the sensors 104-108 in order to clean the sensors 104-108on the sensor carrier structure 220. In some cases, the air and/orliquid cleaning systems can reside on a stationary portion of the sensorpositioning platform 200, such as a portion of the base 202. The airand/or liquid cleaning systems can output air and/or liquid towards thesensors 104-108 and/or as the sensors 104-108 rotate within a distanceor reach of the air and/or liquid cleaning systems. In other cases, theair and/or liquid cleaning systems can reside on a rotating portion ofthe sensor positioning platform 200, such as a portion of the base 312of the sensor carrier structure 220. The air and/or liquid cleaningsystems can thus rotate with the sensors 104-108 and can output airand/or liquid towards the sensors 104-108 at any time.

In some examples, such hollow space or bore in the base 202 can also beused to run sensor data and power cables through the base 202 and to thesensors 104-108 on the sensor carrier structure 220. In some cases, thehollow space or bore in the base 202 can be used to run the sensor dataand power cables, as well as the air and/or liquid hoses, through thebase 202. In other cases, the hollow space or bore in the base 202 canbe used to run either the sensor data and power cables or the air and/orliquid hoses through the base 202.

In the example shown in FIG. 3A, the sensor carrier structure 220includes a radar sensor 104, and two co-located image sensors 104-106,such as a visible light image sensor and an IR image sensor. However, itshould be noted that this configuration is provided as a non-limitingexample for explanation purposes, and other configurations are alsocontemplated herein. For example, in other configurations, the sensorcarrier structure 220 can include more or less sensors than those shownin FIG. 3A, one or more different types of sensors than those shown inFIG. 3A, one or more of the same type of sensors as those shown in FIG.3A, and/or a different combination or placement of sensors than thatshown in FIG. 3A. To illustrate, in some examples, the sensor carrierstructure 220 can include one or more image sensors (e.g., a visiblelight camera, an IR camera, etc.), one or more radars, and/or one ormore other types of sensors such as LIDARs, IMUs, etc.

FIG. 3B illustrates a view 330 of an example sensor positioning platform200. The view 330 in this example is a side view depicting the base 202shown in FIG. 3A, when assembled. As shown, the sensor positioningplatform 200 can include the sensor carrier structure 220, whichincludes or contains the sensors 104-108; and the base 202, whichincludes the actuator system 204.

As shown, the sensors 104-108 on the sensor carrier structure 220 aresecured or held by the sensor bracket 222. The sensor bracket 222 issecured, affixed, coupled, attached, and/or connected to the base 312,which provides a platform or stage for the sensor carrier structure 220.The base 312 can be moved and/or rotated by the actuator system 204,which can apply a force to the base 312 to move and/or rotate the base312. As the base 312 is moved or rotated by the actuator system 204, thesensor carrier structure 220 and sensors 104-108 can move and/or rotate(e.g., relative to the base 202) along with the base 312.

The sensors 104-108 can connect to electrical connector(s) on the rotarycable assembly through connectors 310C, 310D, to obtain power and/ordata connectivity. Each of the connectors 310C and 310D can include oneor more connector elements. Moreover, as previously noted, theconnectors 310C and 310D can connect to one or more electricalconnectors on the rotary cable assembly 216, to provide power and/ordata connectivity to the sensors 104-108. The housing structures 308 canhouse the rotary cable assemblies 216, and the rotary cable assemblies216 can allow the sensors 104-108 to maintain connectivity even whenmoved or rotated, as further described herein.

The base 202 or a portion of the base 202 (e.g., a portion of theactuator system 204) can interface or connect to the sensor carrierstructure 220 to allow the actuator system 204 on the base 202 to applyforce to the sensor carrier structure 220 (and/or the base 312) in orderto move and/or rotate the sensor carrier structure 220 (including thebase 312) and the sensors 104-108. In other examples, the base 202 canhave an opening that allows the sensor carrier structure 220 (e.g.,through the base 312) and the actuator system 204 or a portion of theactuator system 204 to make contact and/or be secured, coupled,connected, and/or attached to each other. Moreover, in someimplementations, the sensor carrier structure 220 and the actuatorsystem 204 can be connected, secured, attached, and/or coupled through,from, or at a top portion of the base 202. However, in otherimplementations, the sensor carrier structure 220 and the actuatorsystem 204 can be connected, secured, attached, and/or coupled through,from, or at any other portion or location of the base 202.

As previously noted, the actuator system 204 can exert force (e.g., viathe motor 212) on the sensor carrier structure 220 (or the base 312 ofthe sensor carrier structure 220) in order to adjust or control theposition, angle, orientation, and/or movement of the sensor carrierstructure 220. For example, the actuator system 204 can exert force onthe base 312 of the sensor carrier structure 220 to rotate the sensorcarrier structure 220 to a requested or specified position or angle. Asthe base 312 and the sensor carrier structure 220 rotate, the sensors104-108 can also rotate with the base 312 and sensor carrier structure220. Thus, such rotation of the base 312 and sensor carrier structure220 can reposition the sensors 104-108 and adjust the orientation,position, field of view and/or coverage of the sensors 104-108.

As previously noted, the sensors 104-108 can be affixed, coupled,secured, connected, and/or attached to the sensor carrier structure 220via the sensor bracket 222, such that the sensors 104-108 can move withthe sensor carrier structure 220 when the sensor carrier structure 220is rotated, repositioned, or otherwise moved by the actuator system 204.In some cases, the sensor carrier structure 220 (including the base 312)can rotate along a horizontal or yaw axis (e.g., X axis) and thus canprovide the sensors 104-108 rotational movement along the horizontal oryaw axis. In other cases, the sensor carrier structure 220 (includingthe base 312) can rotate along various axes and thus can provide thesensors 104-108 multiple degrees of freedom. For example, in some cases,the sensor carrier structure 220 (including the base 312) can rotatealong a horizontal or yaw axis (e.g., X axis) and a vertical or pitchaxis (e.g., Y axis) and thereby provide the sensors 104-108 rotationalmovement along the horizontal or yaw axis as well as the vertical orpitch axis. In some cases, the sensor carrier structure 220 can alsoextend up or down or otherwise move the sensors 104-108 up or down toadjust the altitude or height of the sensors 104-108.

In some implementations, the base 202 can include hollow space to runair and/or liquid hoses through the base 202 and to liquid and/or aircleaning systems (e.g., 218A, 218B) that can output the air and/orliquid towards the sensors 104-108 in order to clean the sensors 104-108on the sensor carrier structure 220. In some cases, the air and/orliquid cleaning systems can reside on a stationary portion of the sensorpositioning platform 200, such as a portion of the base 202. The airand/or liquid cleaning systems can output air and/or liquid towards thesensors 104-108 and/or as the sensors 104-108 rotate within a distanceor reach of the air and/or liquid cleaning systems. In other cases, theair and/or liquid cleaning systems can reside on a rotating portion ofthe sensor positioning platform 200, such as a portion of the base 312of the sensor carrier structure 220. The air and/or liquid cleaningsystems can thus rotate with the sensors 104-108 and can output airand/or liquid towards the sensors 104-108 at any time.

In some aspects, the actuator system 204 can include one or moreconnectors 310A for providing connectivity to one or more components inthe actuator system 204, such as the motor 212 (e.g., the rotor 302,rotor shaft 303, stator 304, position sensor 208, etc.), etc.

FIG. 4 illustrates another example configuration 400 of a sensorpositioning platform 200. In this example, the sensor positioningplatform 200 can optionally include an actuator brake 206. The actuatorbrake 206 can lock the rotor 302 in position when not in use or when therotor 302 is otherwise needed to be locked (e.g., as fail safe). In someexamples, the actuator brake 206 can be used as a holding device for therotor 302 and can be activated during certain conditions such as, forexample, when the rotor 302 is not in use, during a stop or emergencycondition, when the rotor 302 needs to be locked or stopped, etc. Theactuator brake 206 can provide a certain amount of holding torque tohandle the output torque generated by the actuator system 204.

The sensor positioning platform 200 can also include the base 202. Thebase 202 can include a lower stator housing 305A and an upper statorhousing 305B which house the stator 304 on the base 202. In some cases,the stator housings 305A and/or 305B can include one or more brackets,which can be used to mount, secure, attach, or couple the statorhousings 305A, 205B, and/or the base 202 to something. For example, thelower stator housing 305A can include one or more brackets that can beused to mount the base 202 to the autonomous vehicle 102.

The connectors 310B and 310C for providing power and data communicationsto the sensors 104-108 can be interconnected via electrical connectorsimplemented by the cable assemblies 216. In some implementations, theelectrical connectors in the cable assemblies 216 can be a flexibleprinted circuit (FPC) capable of carrying data and/or power signals. TheFPC can be a spiral FPC that can coil or curl around an axis of a rotarycable assembly 216. In other implementations, the electrical connectorscan be any other type of cables, wires, electrical buses, ribbons,circuits and/or channels capable of carrying data and/or power signals.

FIG. 5A illustrates an example assembled configuration 500 of an examplesensor positioning platform 200. In this example, the sensor positioningplatform 200 includes a base cover 502 over a portion of the base 202.The base cover 502 is situated below the lower stator housing 305A ofthe actuator system 204 associated with the base 202, and can at leastpartially insulate or protect the covered portion of the base 202, suchas a portion of connector 310A.

Moreover, in this example, a housing structure 308 containing the rotarycable assembly 216 is integrated with, or part of, the base 312 of thesensor carrier structure 220. In some examples, the housing structure308 can rotate and move along with the base 312. In other examples, thehousing structure 308 can remain static or fixed while the base 312 canrotate or move relative to the housing structure 308. For example, thehousing structure 308 can remain static along with, or as part of, thebase 202. The base 312 can be fit or placed within an opening on, orportion of, the housing structure 308 in a way that allows the base 312to rotate relative to the housing structure 308.

FIG. 5B illustrates another example assembled configuration 520 of anexample sensor positioning platform 200. In this example, the sensorpositioning platform 200 includes a top cover 522 over the sensorcarrier structure 220. The top cover 522 is situated on top of the base312 of the sensor carrier structure 220 and covers or insulates thesensors 104-108 on the sensor carrier structure 220.

The top cover 522 includes openings 524 around portions of the top cover522 that would otherwise cover a surface of each of the sensors 104-108.The openings 524 can expose a portion or surface of the sensors 104-108to the outside environment. Thus, the openings 524 can allow the sensors104-108 to send and receive signals and data without or with limitedobstructions from the top cover 522, while also protecting the sensorcarrier structure 220 and the sensors 104-108 from external elements.

Moreover, in this example, a housing structure 308 containing the rotarycable assembly 216 is positioned below the base 312 of the sensorcarrier structure 220. The housing structure 308 can be fixed or coupledto the base 202 and can remain static while the base 312 can rotate ormove relative to the housing structure 308.

FIG. 6A illustrates an example implementation 600 of a sensorpositioning platform 200 configured with a liquid cleaning system 218Aand an air cleaning system 218B. The liquid cleaning system 218A and theair cleaning system 218B can be used to clean the image sensors 106 and108 on the sensor carrier structure 220. For example, the liquidcleaning system 218A can spray liquid on the lenses of the image sensors106 and 108 to clean or rinse the image sensors 106 and 108, and the aircleaning system 218B can spray air on the lenses of the image sensors106 and 108 to remove dust or other particles from the lenses of theimage sensors 106 and 108 and/or to dry liquid on the lenses of theimage sensors 106 and 108.

To carry liquid and air to the liquid cleaning system 218A and the aircleaning system 218B, a liquid hose 602A and one or more air hoses 604Acan be mounted to a lower cover 606 of the base 202, and implemented orincluded within tubes 608A-D (collectively “608” hereinafter) that arealso mounted to the lower cover 606 of the base 202 and that travelthrough at least a portion of the base 202 and/or the actuator system204. In some examples, the tubes 608 can travel through at least aportion of a hollow bore or thru-bore in a rotor shaft 303.

In some cases, the tubes 608 can be configured to have sufficientclearance in the rotor shaft 303 to run freely even if thermal expansionoccurs. In some implementations, the tubes 608 can be configured to haveor leave a small gap 614 between the tubes 608 and the rotor shaft 303to permit some leakage. Moreover, in some examples, the tubes 608 can bearranged in a concentric fashion or coaxial to each other. For example,a set of inner tubes 608C-D can be arranged within a set of outer tubes608A-B.

The liquid hose 602A can be configured and aligned to project liquid 610through and/or inside the set of inner tubes 608C-D, and the one or moreair hoses 604A can be configured and aligned to project compressed air612 through and/or inside the set of outer tubes 608A-B. The liquid 610from the liquid hose 602A can travel through the hollow bore orthru-bore in the rotor shaft 303 and/or within the set of inner tubes608C-D, and the air 612 from the one or more air hoses 604A cansimilarly travel through the hollow bore or thru-bore in the rotor shaft303 and/or within the set of outer tubes 608A-B.

A fitting element 616 can be disposed on, or coupled to, a distal end ofthe rotor shaft 303 or tubes 608 and connect to a liquid hose 602B andone or more air hoses 604B that can respectively receive and carry theliquid 610 and air 612 to the liquid cleaning system 218A and the aircleaning system 218B. In some examples, the fitting element 616 can be atee fitting that can connect to the liquid hose 602B and the one or moreair hoses 604B and can divide the flow of liquid 610 and air 612 to theliquid hose 602B and the one or more air hoses 604B. In other examples,the fitting element 616 can be any other type of component capable ofdividing the flow of liquid 610 and air 612 through the liquid hose 602Band the one or more air hoses 604B.

The liquid cleaning system 218A can receive the liquid 610 from theliquid hose 602B and output or spray the liquid 610 on and/or toward thelenses of the image sensors 104 and 106 in order to clean the imagesensors 104 and 106. Similarly, the air cleaning system 218B can receivethe air 612 from the one or more air hoses 604B and output or spray theair 612 on and/or toward the lenses of the image sensors 104 and 106 inorder to clean the image sensors 104 and 106. The liquid cleaning system218A and the air cleaning system 218B can each include one or moredischarge elements such as one or more nozzles, vents, and/or sprayingdevices for controlling and enabling the flow, discharge, and/orprojection of the liquid 610 and air 612 to the image sensors 104 and106.

In some implementations, the liquid cleaning system 218A and the aircleaning system 218B can be positioned on, or secured to, a portion ofthe base 312 of the sensor carrier structure 220. Here, the liquidcleaning system 218A and the air cleaning system 218B can rotate alongwith the base 312 and thus remain in a certain position (e.g., location,proximity, angle, etc.) relative to the image sensors 104 and 106 evenwhen the image sensors 104 and 106 are rotated. The relative position ofthe liquid cleaning system 218A and the air cleaning system 218B canallow the liquid cleaning system 218A and the air cleaning system 218Bto be within and/or remain within an output/spraying reach or distanceof the image sensors 104 and 106. Thus, the liquid cleaning system 218Aand the air cleaning system 218B can output or spray liquid and air toclean the image sensors 104 and 106 at any time, even when the imagesensors 104 and 106 are rotated or as the image sensors 104 and 106rotate.

In other implementations, the liquid cleaning system 218A and the aircleaning system 218B can be positioned on a static portion (relative tothe base 312 and sensors 104-108) of the base 202. Since the liquidcleaning system 218A and the air cleaning system 218B are positioned ona static portion of the base 202, the positions, angles, and/orproximities of the liquid cleaning system 218A and the air cleaningsystem 218B relative to the image sensors 104 and 106 can change as theimage sensors 104 and 106 rotate. However, the liquid cleaning system218A and the air cleaning system 218B can be positioned such that theyare within an output/spraying reach of the image sensors 104 and 106when the image sensors 104 and 106 are at one or more positions (e.g.,proximities, locations, angles, etc.) within their range ofmovement/rotation. Thus, when the image sensors 104 and 106 rotate ormove within a range of the liquid cleaning system 218A and the aircleaning system 218B, the liquid cleaning system 218A and the aircleaning system 218B can output or spray the liquid 610 and air 612 toclean the image sensors 104 and 106.

In some cases where the liquid cleaning system 218A and the air cleaningsystem 218B are positioned on a static portion (relative to the base 312and sensors 104-108) of the base 202, the image sensors 104 and 106 canbe rotated or moved (e.g., via rotation of the base 312) within therange of the liquid cleaning system 218A and the air cleaning system218B at specific times when cleaning of the image sensors 104 and 106 istriggered or desired. In some examples, when cleaning the image sensors104 and 106, the image sensors 104 and 106 can be rotated multiple timeswithin the range of the liquid cleaning system 218A and the air cleaningsystem 218B to allow the liquid cleaning system 218A and the aircleaning system 218B to spray and clean the image sensors 104 and 106multiple times and/or for a certain period of time within a cleaningcycle.

In some cases, the image sensors 104 and 106 can also be rotatedmultiple times as they are sprayed with air and/or after being sprayedwith air, to help clean the image sensors 104 and 106 and/or remove ordry any liquid from the image sensors 104 and 106. For example, theimage sensors 104 and 106 can shake back and forth when being cleanedand/or dried. Such rotation and movement of the image sensors 104 and106 can be effectuated by the motor 212 (e.g., position sensor 208,rotor 302, rotor shaft 303, stator 304, lower stator housing 305A, upperstator housing 305B, etc.), which can apply force to the base 312 torotate or move the sensor carrier structure 220, as previouslyexplained.

While the implementation 600 shown in FIG. 6A includes both a liquidcleaning system 218A and an air cleaning system 218B, it should be notedthat other implementations may include additional liquid cleaningsystems and/or air cleaning systems, or may only include either a liquidcleaning system 218A or an air cleaning system 218B. The liquid cleaningsystem 218A and the air cleaning system 218B in FIG. 6A are provided asan illustrative example for explanation purposes.

FIG. 6B illustrates another example implementation 620 of a sensorpositioning platform 200 configured with a liquid cleaning system 218Aand an air cleaning system 218B. In this example, a liquid hose 602 andan air hose 604 are implemented on an outside of the sensor positioningplatform 200. The liquid hose 602 and the air hose 604 can run along anouter or external portion of the base 202 and up to the liquid cleaningsystem 218A and the air cleaning system 218B. The liquid hose 602 andthe air hose 604 can then connect to the liquid cleaning system 218A andthe air cleaning system 218B, respectively.

The liquid hose 602 can carry liquid 610 to the liquid cleaning system218A and the air hose 604 can carry air 612 to the air cleaning system218B. The liquid cleaning system 218A and the air cleaning system 218Bcan then output or spray the liquid 610 and air 612 to clean the imagesensors 104 and 106.

In some examples, the liquid hose 602 and/or the air hose 604 can befastened or secured to the base 202. In other examples, the liquid hose602 and/or the air hose 604 can may run free or loose along the outer orexternal portion of the base 202 without being fastened or secured tothe base 202.

In some implementations, the liquid cleaning system 218A and the aircleaning system 218B can be positioned on a portion of the base 312 ofthe sensor carrier structure 220. Here, the liquid cleaning system 218Aand the air cleaning system 218B can rotate with the base 312 and remainin a certain position (e.g., location, proximity, angle, etc.) relativeto the image sensors 104 and 106. The relative position of the liquidcleaning system 218A and the air cleaning system 218B can allow theliquid cleaning system 218A and the air cleaning system 218B to bewithin an output/spraying reach or distance of the image sensors 104 and106. Thus, the liquid cleaning system 218A and the air cleaning system218B can output or spray liquid and air to clean the image sensors 104and 106 at any time, even when the image sensors 104 and 106 are rotatedor as the image sensors 104 and 106 rotate.

In other implementations, the liquid cleaning system 218A and the aircleaning system 218B can be positioned on a static portion of the base202. Since the liquid cleaning system 218A and the air cleaning system218B are positioned on a static portion of the base 202, the positions,angles, and/or proximities of the liquid cleaning system 218A and theair cleaning system 218B relative to the image sensors 104 and 106 canchange as the image sensors 104 and 106 rotate. However, the liquidcleaning system 218A and the air cleaning system 218B can be positionedsuch that they are within an output/spraying reach of the image sensors104 and 106 when the image sensors 104 and 106 are at one or morepositions (e.g., proximities, locations, angles, etc.) within theirrange of movement/rotation. Thus, when the image sensors 104 and 106rotate or move within a range of the liquid cleaning system 218A and theair cleaning system 218B, the liquid cleaning system 218A and the aircleaning system 218B can output or spray the liquid 610 and air 612 toclean the image sensors 104 and 106.

In some cases, the image sensors 104 and 106 can be rotated or moved(e.g., via rotation of the base 312) within the range of the liquidcleaning system 218A and the air cleaning system 218B at specific timeswhen cleaning of the image sensors 104 and 106 is triggered or desired.In some examples, when cleaning the image sensors 104 and 106, the imagesensors 104 and 106 can be rotated multiple times within the range ofthe liquid cleaning system 218A and the air cleaning system 218B toallow the liquid cleaning system 218A and the air cleaning system 218Bto spray and clean the image sensors 104 and 106 multiple times and/orfor a certain period of time within a cleaning cycle.

In some cases, the image sensors 104 and 106 can also be rotatedmultiple times as they are being sprayed with air and/or after beingsprayed with air, to help remove or dry any remaining liquid from theimage sensors 104 and 106. For example, the image sensors 104 and 106can shake back and forth when being cleaned and/or dried.

While the implementation 620 shown in FIG. 6B includes both a liquidcleaning system 218A and an air cleaning system 218B, it should be notedthat other implementations may include additional liquid cleaningsystems and/or air cleaning systems, or may only include either a liquidcleaning system or an air cleaning system. The liquid cleaning system218A and the air cleaning system 218B in FIG. 6B are provided as anillustrative example for explanation purposes.

FIG. 7A illustrates an example bearing architecture 700 for an actuatorsystem 204. The bearing architecture 700 of the actuator system 204 canaffect a performance of the actuator system 204, and can affect ordepend on various aspects of the actuator system 204 and the bearings210A-D (collectively “210” hereinafter) such as, for example and withoutlimitation, a bearing contact angle, a bearing placement, a preload,encoder pieces tolerance stack, etc.

In the example bearing architecture 700, the bearings 210 are preloadedin a face-to-face configuration 702. The springs 306 can act on an outerrace of the upper bearings 210A-B. Moreover, the bearings 210 can bepressed fit onto the rotor 302.

In the unloaded case, the weight of the rotor 302 can rest on the lowerbearings 210C-D in the same contact as the loaded case, and the upperbearings 210A-B can be free. In the loaded case, a spring (306)compression force and a weight of the rotor 302 can act downwards on theinner race of the lower bearings 210C-D. The compression force of thespring 306 can act downwards on the outer race of the upper bearings210A-B.

In a shock event upwards on the stator 304, the rotor 302 may move withthe stator 304 due to a rigid connection through the lower bearings210C-D, while maintaining or without closing the encoder (208) gap. In ashock event downwards on the stator 304, the rotor 302 can be free tomove up in relation to the stator 304, widening the gap between encoderpieces 208. However, in some cases, such movement may fight against thespring compression, which can increase as the rotor 302 moves up inrelation to the stator 304. The rotor 302 can move upward relative tothe stator 304 as the spring 306 compresses. Such amount of movement canbe limited by the spacer design, and can account for the tolerance stackup between parts.

In some examples, a stack-up for tolerance between the encoder pieces208 can go from encoder ring thickness, encoder adapter, lower bearinginner race, lower bearing ball, lower bearing outer race, and lowerstator housing.

FIG. 7B illustrates another example bearing architecture 720 for anactuator system 204. In this example, the bearings 210A-D are preloadedin a back-to-back configuration 722. Moreover, the springs 306 can acton the inner race of the lower bearings 210C-D.

In the unloaded case, the weight of the rotor 302 can rest on the upperbearings 210A-C in a same contact as the loaded case, and the lowerbearings 210C-D can be free. In the loaded case, the springs 306 canprovide a force equal to, or nearly equal to, the compression forceupwards on the inner race of the lower bearings 210C-D, changing itscontact from the unloaded case. The compression force and weight of therotor 302 can add to keep the upper bearings 210C-D in correct contact.

In a shock event upwards on the stator 304, the rotor assembly may movewith the stator 304 due to the rigid connection through the upperbearings 210A-B. In a shock event downwards on the stator 304, the rotor302 can be free to move up in relation to the stator 304, widening a gapbetween encoder pieces 208. However, this movement may fight against thespring compression, which may increase as the rotor 302 moves up. Therotor 302 can move as far as the axial play in the upper bearings210A-B.

The stack-up for tolerance between the encoder pieces 208 can go fromencoder ring thickness, encoder adapter, rotor, upper bearing innerrace, upper bearing ball, upper bearing outer race, upper statorhousing, stator winding stack, and lower stator housing.

FIG. 8A illustrates an example rotary cable assembly 216 that can beused to provide power and/or data connectivity to the sensors 104-108 onthe sensor carrier structure 220. The rotary cable assembly 216 caninclude a spiral and/or flex rotary electrical connector 808, and canallow the sensors 104-108 to rotate while maintaining an electricalconnection with the electrical connector 808 as well as any otherelectrical components on the base 202 and/or the autonomous vehicle 102,which can have an electrical connection (directly or indirectly) withthe electrical connector 808.

In some cases, the electrical connector 808 can include a spiral FPC. Inother cases, the electrical connector 808 can include any other type ofspiral and/or flex cable, ribbon, circuit, channel, line, circuit, etc.The electrical connector 808 can be housed within a first portion 802and a second portion 806 of the rotary cable assembly 216. The secondportion 806 of the rotary cable assembly 216 can sit on, or mount to,the first portion 802 of the rotary cable assembly 216 to form a cavity820 therein, which can house the electrical connector 808. In someexamples, the second portion 806 of the rotary cable assembly 216 can berotatably coupled to the first portion 802 of the rotary cable assembly216 through a shaft 810B extending from a spool 810A on the secondportion 802 of the rotary cable assembly 216.

In some cases, the first portion 802 of the rotary cable assembly 216can include a sidewall 810C, and the spool 810A and shaft 810B can belocated inside or within the sidewall 810C. The second portion 806 ofthe rotary cable assembly 216 can rotate 818 relative to the firstportion 802 of the rotary cable assembly 216. Moreover, the secondportion 806 of the rotary cable assembly 216 can rotate 818 around thespool 810A, shaft 810B, and sidewall 810C and/or around an axis of thespool 810A and shaft 810B. The electrical connector 808 can run and/orspiral around the spool 810A, within the cavity 820, and inside of thesecond portion 806 of the rotary cable assembly 216. When the firstportion 806 of the rotary cable assembly 216 spins or rotates relativeto the second portion 802 of the rotary cable assembly 216, theelectrical connector 808 can tighten or loosen as needed to support orallow such spinning or rotation.

On one end, the electrical connector 808 can connect to a circuit board812 having one or more connectors 814. The one or more connectors 814 onthe circuit board 812 can connect with one or more cables connected(directly or indirectly via other connectors such as connectors 310C-D)to the sensors 104-108 on the sensor carrier structure 220. On the otherend, the electrical connector 808 can connect to a circuit board 804having one or more connectors 805 that can connect (directly orindirectly) to other electrical components or cables on the base 202 ofthe sensor positioning platform 200, in order to interconnect thesensors 104-108 with such other electrical components or cables.

In some examples, the circuit board 812 can be secured, affixed,coupled, or mounted to the second portion 806 of the rotary cableassembly 216, and the circuit board 804 can be secured, affixed,coupled, or mounted to the first portion 802 of the rotary cableassembly 216. The circuit board 812 on the second portion 806 of therotary cable assembly 216 can rotate with the second portion 806 of therotary cable assembly 216, while the circuit board 804 on the firstportion 802 of the rotary cable assembly 216 can remain static or nearlystatic relative to the rotating circuit board 812 and the second portion806 of the rotary cable assembly 216. Moreover, the rotation 818 of thesecond portion 806 of the rotary cable assembly 216 and the circuitboard 812, and the spiraling of the electrical connector 808 can allowthe sensors 104-108 to rotate while remaining connected (directly orindirectly) to the electrical connector 808, the one or more connectors805 and 814, and any other electrical component on the sensorpositioning platform 200.

FIG. 8B illustrates the rotary cable assembly 216 with the secondportion 806 of the rotary cable assembly 216 removed to depict anexample configuration of an interior of the rotary cable assembly 216.As shown, the electrical connector 808 is contained inside the cavity820 created by the sidewall 810C on the first portion of the rotarycable assembly 216 and the second portion 806 of the rotary cableassembly 216 when the second portion 806 of the rotary cable assembly216 sits on the first portion 802 of the rotary cable assembly 216. Thefirst portion 806 of the rotary cable assembly 216 can cover, sit over,and/or encapsulate the spool 810A on the first portion 802 of the rotarycable assembly 216. Moreover, the electrical connector 808 can wrap orspiral around the spool 810A.

The shaft 810B on the first portion 806 of the rotary cable assembly 216can help secure or restrain the first portion 806 of the rotary cableassembly 216. When the first portion 806 of the rotary cable assembly216 rotates, the spool 810A, shaft 810B and first portion 802 of therotary cable assembly 216 can remain static or nearly static relative tothe second portion 806 of the rotary cable assembly 216.

The first portion (802) can include, for example and without limitation,a plate, a flange, a base unit, a block, and the like. Moreover, thesecond portion (806) can include, for example and without limitation, areel or spool, a cylindrical block, a plate, a flange, a coil unit, andthe like.

In some examples, the spool 810A can include a reel, an elevated blockor flange, a coil unit, a cylindrical block, or the like, and can fitwithin the first portion 806 of the cable reel assembly 806. Moreover,the spool 810A can include the shaft 810B extending therefrom, which cancouple to the second portion 806 of the cable reel assembly 806 andallow the second portion 806 of the cable reel assembly 806 to rotaterelative to the first portion 802 of the cable reel assembly 806. Insome cases, the shaft 810B and/or the sidewall 810C can help restrainthe first portion 806 of the cable reel assembly 806 while allowing thefirst portion 806 of the cable reel assembly 806 to rotate.

FIG. 9 illustrates an example configuration 900 of an example autonomousvehicle 102 with sensor positioning platforms 200A-B on each side of theautonomous vehicle 102. In this example, the autonomous vehicle 102includes a first sensor positioning platform 200A on the driver's sideof the autonomous vehicle 102 and a second sensor positioning platform200B on the passenger's side of the autonomous vehicle 102. The sensorpositioning platforms 200A-B can include respective sensor carrierstructures 220 containing sensors 104-108, respective stationaryplatform assemblies 202 housing respective actuator systems (e.g., 204),and a respective securing element 902 for securing the sensorpositioning platforms 200A-B to the autonomous vehicle 102.

Through the sensor positioning platforms 200A-B, the sensors 104-108 onthe respective sensor carrier structures 220 can have access andvisibility to the outside or external environment, allowing the sensors104-108 to collect sensor data and measurements (e.g., images, videos,radar sensor data, laser sensor data, structured light data, etc.) ofthe outside or external environment associated with the autonomousvehicle 102. The sensor carrier structures 220 on the sensor positioningplatforms 200A-B can be moved, positioned, rotated, oriented, etc., aspreviously explained, to allow the sensors 104-108 to collect sensordata and measurements from different positions, angles, locations,perspectives, field of views or coverage, etc. In some cases, thesensors 104-108 can continuously or periodically collect sensor data andmeasurements from a current position, an adjusted position, and/or asthe sensors 104-108 are repositioned (e.g., rotated, oriented, etc.).

The ability to reposition the sensors 104-108 and obtain sensor data andmeasurements from different dimensions of space and time can allow thesensors 104-108 to collect sensor data and measurements from a widevariety of perspectives, and can increase the addressable field ofregard of the sensors 104-108, vary the instantaneous field of view ofthe sensors 104-108, allow an increase and/or reduction of an allowabletracking error, etc. Moreover, the autonomous vehicle 102 can use thesensor data and measurements from the sensors 104-108 for one or moreoperations such as, for example, detection operations (e.g. detectingfixed and/or moving objects, animals, humans, etc.; detectingenvironment conditions; detecting scenes or views; etc.), trackingoperations, localization operations, mapping operations, planningoperations, safety operations, navigation operations, and so forth.

FIG. 10 illustrates an example use 1000 of sensor positioning platforms200A-B on an autonomous vehicle 102. In this example, the autonomousvehicle 102 is traveling in a linear trajectory 1002 at time t₁. Theautonomous vehicle 102 includes a sensor positioning platform 200A onthe driver side and a sensor positioning platform 200B on the passengerside. The sensor carrier structures 220 on the sensor positioningplatforms 200A-B include sensors 104-108 which are actively,continuously, or periodically collecting sensor data and measurementsfrom their respective positions or perspectives as the autonomousvehicle 102 travels along the trajectory 1002.

At t₁, the sensor carrier structure 220 on the sensor positioningplatform 200A is positioned at a first rotation angle 1002A or yaw,relative to the autonomous vehicle 102 (and/or the trajectory 1002 ofthe autonomous vehicle 102), and the sensor carrier structure 220 on thesensor positioning platform 200B is positioned at a second rotationangle 1002B relative to the autonomous vehicle 102 (and/or thetrajectory 1002 of the autonomous vehicle 102). The first rotation angle1002A and the second rotation angle 1002B can be the same or different.

Given the first rotation angle 1002A associated with the sensor carrierstructure 220 on the sensor positioning platform 200A, the sensors104-108 on that sensor carrier structure 220 have a specific field ofview 1006A at t₁, which is at least partly based on the first rotationangle 1002A of the sensor carrier structure 220 on which those sensors104-108 reside. Similarly, given the second rotation angle 1002Bassociated with the sensor carrier structure 220 on the sensorpositioning platform 200B, the sensors 104-108 on that sensor carrierstructure 220 have a specific field of view 1006B at t₁, which is atleast partly based on the second rotation angle 1002B of the sensorcarrier structure 220 on which those sensors 104-108 reside.

As shown in FIG. 10, at t₂, the autonomous vehicle 102 is making a turnand has consequently changed its direction of travel to a differenttrajectory 1008. As (or before) the autonomous vehicle 102 turns andtravels in the different trajectory 1008, the sensor carrier structures220 on the sensor positioning platforms 200A-B can be repositioned todifferent rotational angles 1010A-B. The sensor carrier structures 220can be repositioned by the respective actuator systems 204 (e.g., viathe motors 212) on the sensor positioning platforms 200A-B, aspreviously explained. The sensor carrier structures 220 can berepositioned to adjust the position of the sensors 104-108 on the sensorpositioning platforms 200A-B in order to achieve different fields ofview 1012A-B, which can be based at least partly on the differentrotational angles 1010A-B, and obtain sensor data for different areas ofinterest at least partly within the different fields of view 1012A-B.

In one illustrative example, the different areas of interest can includean area along the different trajectory 1008 which the autonomous vehicle102 is crossing or plans to cross, and an area that the autonomousvehicle 102 needs to check for objects (e.g., oncoming/incomingvehicles, pedestrians, etc.) before or while the autonomous vehicle 102travels in or towards the different trajectory 1008 (e.g., before orwhile the autonomous vehicle 102 crosses a lane, makes a turn, makes amaneuver, changes direction, etc.). Other non-limiting examples of areasof interest that can be targeted through the repositioning of the sensorcarrier structures 220 can include an area where a certain object orcondition is located that the autonomous vehicle 102 is tracking, ablind spot, an area for which the autonomous vehicle 102 wants tocollect more sensor data (e.g., to gain greater insight or visibilityinto the area and/or the surrounding environment, to confirm that nosafety hazards or approaching objects exist, etc.), an area for whichthe autonomous vehicle 102 wants to get new or additional sensor data,and/or any other area that may be of interest to the autonomous vehicle102 for any reason (e.g., safety, navigation, visibility, localization,mapping, etc.).

In some cases, the repositioning of the sensor carrier structures 220 att₂ (and/or the different rotational angles 1010A-B) can be calculatedand/or performed in response to, or in anticipation of, the differenttrajectory 1008 and/or a change (actual and/or predicted) in directionor trajectory of the autonomous vehicle 102 between t₁ and t₂. Forexample, the different rotational angles 1010A-B can be selected and/orcalculated to account for the different trajectory 1008, a change in therelative position or motion of the autonomous vehicle 102 and otherobjects due to the different trajectory 1008, a change in thesurrounding environment and/or circumstances of the autonomous vehicle102 due to the different trajectory 1008, a gap in visibility and/orcurrent data due to the different trajectory 1008, a need to gainadditional perspectives due to the different trajectory 1008, a need tosupplement the data or estimates for one or more areas due to thedifferent trajectory 1008, and/or any other reason or condition promptedby the autonomous vehicle 102 changing its direction of travel to thedifferent trajectory 1008.

Having disclosed some example system components and concepts, thedisclosure now turns to FIGS. 11 and 12, which illustrate examplemethods 1100 and 1200 for implementing a sensor positioning platform onan autonomous vehicle. The steps outlined herein are exemplary and canbe implemented in any combination thereof, including combinations thatexclude, add, or modify certain steps.

At step 1102, the method 1100 can include determining, based on one ormore measurements from a position sensor (208) on an actuator system(204) of a sensor positioning platform (200) coupled to an autonomousvehicle (102), a current position of a motor (212) associated with theactuator system (204). The one or more measurements can indicate ormeasure a current position (e.g., angle, location, etc.) of the motor(212) sensed by the position sensor (208). The position sensor (208) cancalculate the one or more measurements and report them to another deviceor component, such as a motor controller (240) and/or an internalcomputing system (110) on the autonomous vehicle (102), for example.

In some cases, the one or more measurements can be used to determine,estimate, or infer a current position of a sensor carrier structure(220) on the sensor positioning platform (200) and/or sensors (104-108)on the sensor carrier structure (220). Moreover, in some examples, theone or more measurements of the current position of the motor (212) canbe used to determine whether the sensor carrier structure (220) and/orthe sensors on the sensor carrier structure (220) should berepositioned, determine how to reposition the sensor carrier structure(220) and/or the sensors on the sensor carrier structure (e.g., wherethey should be repositioned to, how much to move or rotate them, etc.),etc.

At step 1104, the method 1100 can include receiving, by a motorcontroller (240), one or more instructions for controlling the motor(212) of the actuator system (204) to reposition a sensor carrierstructure (220) on the sensor positioning platform (200) from thecurrent position to a different position calculated based on the one ormore measurements. The sensor carrier structure (220) can include aplurality of sensors (104-108), such as a radar, an image sensor, athermal image sensor, etc. Moreover, in some cases, the differentposition can be calculated and/or a determination that the sensorcarrier structure (220) should be repositioned can be made usingadditional information.

For example, to calculate the different position and/or determine thatthe sensor carrier structure (220) should be repositioned, variousfactors can be considered such as conditions associated with theautonomous vehicle (e.g., environment conditions or events, traffic orroad conditions, navigation conditions, etc.), an operation of theautonomous vehicle (e.g., a current or future state of the autonomousvehicle, a status of the autonomous vehicle, etc.), a state and/orcondition of the sensors on the sensor carrier structure (e.g.,visibility, obstructions, errors, cleanliness, etc.), and/or any otherevents or data relevant to determining whether the sensors should berepositioned to clean them, obtain better visibility or accuracy,protect them from a hazard, adjust their FOV, etc.

In some cases, the motor controller (240) can receive the one or moreinstructions from a device or component associated with the motorcontroller (240), such as a processor that determined that the sensorcarrier structure (220) should be repositioned and/or generated the oneor more instructions. In other cases, the motor controller (240) canreceive the one or more instructions from a separate device, such as aninternal computing system (110) on the autonomous vehicle (102). Forexample, the internal computing system (110) can use the one or moremeasurements to determine that the sensor carrier structure (220) shouldbe repositioned and/or where the sensor carrier structure (220) shouldbe repositioned to, and provide to the motor controller (240) the one ormore instructions for repositioning the sensor carrier structure (220).

In some examples, in addition to using the one or more measurements todetermine that the sensor carrier structure (220) should be repositionedand/or where the sensor carrier structure (220) should be repositioned,the internal computing system (110) (or any other device) can also useother information relevant information. For example, the internalcomputing system (110) (or any other device) can also considerconditions associated with the autonomous vehicle (102), an operation orbehavior of the autonomous vehicle (102), a state and/or condition ofthe sensors on the sensor carrier structure (220), and/or any otherevents or data relevant to determining whether the sensors should berepositioned to clean them, to obtain better visibility or accuracy, toprotect them from a hazard, to adjust their FOV, etc.

At step 1106, the method 1100 can include sending, to the motor (212) ofthe actuator system (204) and based on the one or more instructions, oneor more control signals configured to control the motor (212) toreposition the sensor carrier structure (220) to the different position.For example, in some cases, to generate the one or more control signals,the motor controller (240) can translate the one or more instructionsinto a format and power level that can move the motor (212) to thedifferent position. The motor controller (240) can then send (e.g.,transmit, provide, apply, etc.) the control signal(s) to the motor (212)in order to trigger the motor (212) to move to the different position.

At step 1108, the method 1100 can include moving, by the motor (212) andin response to the one or more control signals, the sensor carrierstructure (220) to the different position. In some examples, the one ormore control signals can include a series of voltages that can beapplied to the motor (212) to make the motor (212) spin and move thesensor carrier structure (220) to the different position. The motor(212) can receive the one or more control signals from the motorcontroller (240) and use the one or more control signals to move thesensor carrier structure (220) containing the sensors (104-108) in orderto move or reposition the sensors (104-108) to the different position.

At step 1110, when one or more sensors (104, 106, 108) on the sensorcarrier structure (220) are within a spraying reach of one or morecleaning systems (218A-B) on the sensor positioning platform (200), themethod 1100 can include spraying, by the one or more cleaning systems(218A-B), the one or more sensors (104, 106, 108) on the sensor carrierstructure (220) with one or more sensor cleaning substances. The one ormore cleaning systems (218A-B) can spray the one or more sensors (104,106, 108) on the sensor carrier structure (220) with the one or moresensor cleaning substances in order to clean the one or more sensors.Moreover, in some cases, the one or more cleaning systems (218A-B) canspray the one or more sensors (104, 106, 108) on the sensor carrierstructure (220) with the one or more sensor cleaning substances multipletimes and/or in multiple cleaning cycles.

In some cases, the one or more sensor cleaning substances can includeair and/or liquid (e.g., water, cleaning solution, etc.). Moreover, insome examples, the one or more sensors can include one or more imagesensors. For example, in some cases, the one or more sensors can includea visible light image sensor and a thermal imaging or infrared imagesensor. Further, in some examples, the one or more cleaning systems(218A-B) can include one or more spraying elements, such as, for exampleand without limitation, one or more nozzles, spray vents or outlets,spray heads, spray guns, pressurized sprayer, etc.

In some aspects, the method 1100 can include outputting, by one or morehoses (602A, 604A) arranged within one or more tubes (608A, 608B, 608C,608D) mounted to a lower portion (606) of the actuator system (204), theone or more sensor cleaning substances through a thru-bore on a rotorshaft (303) of the motor (212) associated with the actuator system(204), and receiving, by the one or more cleaning systems, the one ormore sensor cleaning substances via one or more additional hoses (602B,604B) coupled to a fitting element (616) on the one or more tubes or therotor shaft.

In some examples, a first respective end of the one or more additionalhoses (602B, 604B) can be connected to the one or more cleaning systems(218A-B) and a second respective end of the one or more additional hoses(602B, 604B) can be coupled to the fitting element (616). Moreover, insome cases, the fitting element (616) can be coupled to a first end ofthe rotor shaft (303) or the one or more tubes (608A, 608B, 608C, 608D)that is opposite to a second end associated with (e.g., at, by, within,adjacent, etc.) the lower portion (606) of the actuator system (204).

In some examples, the thru-bore on the actuator system (204) can includea hollow bore on a rotor shaft (303) of the motor (212) associated withthe actuator system (204), and the one or more hoses can be configuredto project the one or more sensor cleaning substances through the hollowbore on the rotor shaft (303) of the motor (212) and/or the one or moretubes. In some cases, the one or more tubes can be implemented within atleast a portion of the hollow bore on the rotor shaft (303) of the motor(204). For example, the one or more tubes can be configured to interfacewith an opening or inlet of the hollow bore and/or can be containedwithin at least a portion of the hollow bore, such as a lower portion,the entire hollow bore, or up to a certain vertical length of the hollowbore.

In some implementations, the one or more hoses can include a liquid hosefor liquid and/or an air hose for air, and the one or more cleaningsystems can include a liquid cleaning system (218A) and/or an aircleaning system (218B). Moreover, the one or more tubes can include afirst set of tubes (608A-B) associated with the air hose and/or a secondset of tubes (608C-D) associated with the liquid hose. In some cases,the one or more tubes can include the first set of tubes (608A-B) andthe second set of tubes (608A-B), and the first set of tubes (608A-B)and the second set of tubes (608A-B) can be arranged coaxial orconcentric to each other.

In some aspects, the actuator system (204) can include an actuator brake(206) configured to stop or lock a rotor (302) associated with the motor(212) of the actuator system (204). Moreover, in some cases, the sensorpositioning platform (200) can include a base (202) that is coupled tothe sensor carrier structure (220). The base (202) can include theactuator system (204), as well as one or more other components such as,for example and without limitation, a surround view camera (230), atemperature sensor, a power supply, one or more processors, one or morerotary cable assemblies (216), etc.

The one or more cleaning systems (218A-B) can be located on a portion ofthe sensor positioning platform (200) that remains stationary relativeto the sensor carrier structure (220) when the sensor carrier structure(220) is moved or repositioned by the motor (212), or a portion of thesensor carrier structure (220) configured to move with the sensorcarrier structure (220) when the sensor carrier structure (220) is movedor repositioned by the motor (212).

For example, in some implementations, the one or more cleaning systems(218A-B) can be located on a portion of the sensor carrier structure(220) that moves or rotates with the sensor carrier structure (220)anytime the sensor carrier structure (220) is moved or rotated by themotor (212). Thus, the one or more cleaning systems (218A-B) can beconfigured to move with the sensor carrier structure (220 when thesensor carrier structure (220) is moved or repositioned by the motor(212). In this example, the one or more cleaning systems (218A-B) canremain within a spraying reach of the one or more sensors even when oras the one or more sensors (and the sensor carrier structure) arerepositioned.

As previously noted, in other implementations, the one or more cleaningsystems (218A-B) can be located on a portion of the base (202) thatremains stationary relative to the sensor carrier structure (220) whenthe sensor carrier structure (220) (and the sensors on the sensorcarrier structure) is moved or repositioned by the motor (212). In thisexample, the one or more cleaning systems (218A-B) can be configured tospray the one or more sensor cleaning substances on the one or moresensors when the one or more sensors are within a spraying reach of theone or more cleaning systems (218A-B). For example, the one or morecleaning systems (218A-B) can be configured to spray the one or moresensors with the one or more sensor cleaning substances when the sensorcarrier structure (220) is moved or rotated (e.g., as part of a cleaningprocedure or as part of one or more operations) to a certain amount thatplaces the one or more sensors within a certain proximity and/or anglerelative to the one or more cleaning systems (218A-B).

In some aspects, the method 1100 can include receiving, by the motor(212) and from the motor controller (240), a control signal configuredto move the sensor carrier structure (220) back and forth within aspraying range of the one or more cleaning systems (218A-B), and movethe sensor carrier structure (220) back and forth within the sprayingrange while the one or more cleaning systems spray (218A-B) the one ormore sensor cleaning substances on the one or more sensors.

Moreover, in some examples, the motor (212) can be configured to moveand reposition the sensor carrier structure (220) and the sensors(104-108) on the sensor carrier structure (220) during an operation ofthe autonomous vehicle (102), such as during a driving or navigatingoperation. The sensors (104-108) can be configured to gather sensor databefore the sensor carrier structure (220) is moved and repositioned, asthe sensor carrier structure (220) is moved and repositioned, and/orafter the sensor carrier structure (220) is moved and repositioned. Thiscan allow the sensors (104-108) to obtain sensor data from differentpositions (e.g., different angles, locations, etc.) and expand or targettheir visibility or FOV.

FIG. 12 illustrates an example method 1200 for implementing a rotarycable assembly (216) on a sensor positioning platform (200). At step1202, the method 1200 can include mounting a sensor positioning platform(200) to an autonomous vehicle (102). The sensor positioning platform(200) can include a sensor carrier structure (220) rotatably coupled toa base (202). The sensor carrier structure (220) can include one or moresensors (104-108) and the base (202) can include an actuator system(204) configured to rotate the sensor carrier structure (220) relativeto the base (202).

At step 1204, the method 1200 can include mounting a rotary cableassembly (216) to the sensor positioning platform (200). In someexamples, the rotary cable assembly (216) can include a first portion(802) having a spool (810A), a sidewall (810C) surrounding the spool(810A) to form a cavity (820) therein, and a shaft (810B) extending fromthe spool (810A); a second portion (806) coupled to the shaft (810B) andconfigured to rotate with respect to the first portion (802); a flexibleelectrical cable (808) stored by the spool (810A) in a coiledconfiguration within the cavity (820); a first circuit board (804) onthe first portion (802); and a second circuit board (812) on the secondportion (806).

The first portion (802) can include, for example and without limitation,a plate, a flange, a base unit, a block, and the like. Moreover, thesecond portion (806) can include, for example and without limitation, areel or spool, a cylindrical block, a plate, a flange, a coil unit, andthe like.

The first circuit board (804) can include a first connector (805)electrically coupled to a first end of the flexible electrical cable(808). The first connector (805) can be configured to connect to one ormore electrical components (e.g., the internal computing system 110, themotor controller 240, one or more components on the actuator system 204,etc.) on the base (202) of the sensor positioning platform (200) and/orthe autonomous vehicle (102).

The second circuit board (812) can include a second connector (814)electrically coupled to a second end of the flexible electrical cable(808). Moreover, the second circuit board (812) can be configured torotate with the second portion (806) of the rotary cable assembly (216).

At step 1206, the method 1200 can include connecting the plurality ofsensors (104-108) on the sensor carrier structure (220) to the secondconnector (814) of the second circuit board (812) on the second portion(806). The plurality of sensors (104-108) can then receive power and/ordata connectivity, which can be provided and/or transmitted through thesecond circuit board (812) and the second connector (814), and continueto receive such power and/or data connectivity even when the sensorcarrier structure (220) and the plurality of sensors (104-108) on thesensor carrier structure (220) are rotated relative to the base (202) ofthe sensor positioning platform (200) and the first portion (802) of therotary cable assembly (216).

In some examples, the first portion (802) of the rotary cable assembly(216) can remain stationary relative to the sensor carrier structure(220) when the sensor carrier structure (220) is rotated by the actuatorsystem (204). Moreover, in some implementations, the flexible electricalcable (808) can include a flexible printed circuit configured to providepower and data connectivity to the plurality of sensors (104-108) on thesensor carrier structure (220). The flexible printed circuit can beconfigured to tighten or loosen when the second portion (806) of therotary cable assembly (216) and the second circuit board (812) rotatearound an axis of the first portion (802) of the rotary cable assembly(216).

In some examples, the rotary cable assembly (216) can be mounted to aportion of the base (202) of the sensor positioning platform (200) thatremains stationary relative to the sensor carrier structure (220) whenthe sensor carrier structure (220) is moved or repositioned by theactuator system (204). Moreover, the second portion (806) of the rotarycable assembly (216) and the second circuit board (812) can rotatearound an axis of the first portion (802) of the rotary cable assembly(216) at least partly based on a rotation of the sensor carrierstructure (220).

The plurality of sensors (104-108) on the sensor carrier structure (220)can be connected to the second connector (814) of the second circuitboard (812) via one or more electrical cables connected to at least oneconnector (310C, 310D) on the sensor carrier structure (220).

As described herein, one aspect of the present technology includesgathering and using data available from various sources to improvequality and experience. The present disclosure contemplates that in someinstances, this gathered data may include personal information. Thepresent disclosure contemplates that the entities involved with suchpersonal information respect and value privacy policies and practices.

FIG. 13 illustrates an example computing system 1300 which can be, forexample, any computing device making up internal computing system 110,remote computing system 150, a passenger device executing rideshareapplication 170, or any other computing device. In FIG. 13, thecomponents of the computing system 1300 are in communication with eachother using connection 1305. Connection 1305 can be a physicalconnection via a bus, or a direct connection into processor 1310, suchas in a chipset architecture. Connection 1305 can also be a virtualconnection, networked connection, or logical connection.

In some embodiments, computing system 1300 is a distributed system inwhich the functions described in this disclosure can be distributedwithin a datacenter, multiple data centers, a peer network, etc. In someembodiments, one or more of the described system components representsmany such components each performing some or all of the function forwhich the component is described. In some embodiments, the componentscan be physical or virtual devices.

Example system 1300 includes at least one processing unit (CPU orprocessor) 1310 and connection 1305 that couples various systemcomponents including system memory 1315, such as read-only memory (ROM)1320 and random access memory (RAM) 1325 to processor 1310. Computingsystem 1300 can include a cache of high-speed memory 1312 connecteddirectly with, in close proximity to, or integrated as part of processor1310.

Processor 1310 can include any general purpose processor and a hardwareservice or software service, such as services 1332, 1334, and 1336stored in storage device 1330, configured to control processor 1310 aswell as a special-purpose processor where software instructions areincorporated into the actual processor design. Processor 1310 mayessentially be a completely self-contained computing system, containingmultiple cores or processors, a bus, memory controller, cache, etc. Amulti-core processor may be symmetric or asymmetric.

To enable user interaction, computing system 1300 includes an inputdevice 1345, which can represent any number of input mechanisms, such asa microphone for speech, a touch-sensitive screen for gesture orgraphical input, keyboard, mouse, motion input, speech, etc. Computingsystem 1300 can also include output device 1335, which can be one ormore of a number of output mechanisms known to those of skill in theart. In some instances, multimodal systems can enable a user to providemultiple types of input/output to communicate with computing system1300. Computing system 1300 can include communications interface 1340,which can generally govern and manage the user input and system output.There is no restriction on operating on any particular hardwarearrangement, and therefore the basic features here may easily besubstituted for improved hardware or firmware arrangements as they aredeveloped.

Storage device 1330 can be a non-volatile memory device and can be ahard disk or other types of computer readable media which can store datathat are accessible by a computer, such as magnetic cassettes, flashmemory cards, solid state memory devices, digital versatile disks,cartridges, random access memories (RAMs), read-only memory (ROM),and/or some combination of these devices.

The storage device 1330 can include software services, servers,services, etc., that when the code that defines such software isexecuted by the processor 1310, it causes the system to perform afunction. In some embodiments, a hardware service that performs aparticular function can include the software component stored in acomputer-readable medium in connection with the necessary hardwarecomponents, such as processor 1310, connection 1305, output device 1335,etc., to carry out the function.

For clarity of explanation, in some instances, the present technologymay be presented as including individual functional blocks includingfunctional blocks comprising devices, device components, steps orroutines in a method embodied in software, or combinations of hardwareand software.

Any of the steps, operations, functions, or processes described hereinmay be performed or implemented by a combination of hardware andsoftware services or services, alone or in combination with otherdevices. In some embodiments, a service can be software that resides inmemory of a client device and/or one or more servers of a contentmanagement system and perform one or more functions when a processorexecutes the software associated with the service. In some embodiments,a service is a program or a collection of programs that carry out aspecific function. In some embodiments, a service can be considered aserver. The memory can be a non-transitory computer-readable medium.

In some embodiments, the computer-readable storage devices, mediums, andmemories can include a cable or wireless signal containing a bit streamand the like. However, when mentioned, non-transitory computer-readablestorage media expressly exclude media such as energy, carrier signals,electromagnetic waves, and signals per se.

Methods according to the above-described examples can be implementedusing computer-executable instructions that are stored or otherwiseavailable from computer-readable media. Such instructions can comprise,for example, instructions and data which cause or otherwise configure ageneral purpose computer, special purpose computer, or special purposeprocessing device to perform a certain function or group of functions.Portions of computer resources used can be accessible over a network.The executable computer instructions may be, for example, binaries,intermediate format instructions such as assembly language, firmware, orsource code. Examples of computer-readable media that may be used tostore instructions, information used, and/or information created duringmethods according to described examples include magnetic or opticaldisks, solid-state memory devices, flash memory, USB devices providedwith non-volatile memory, networked storage devices, and so on.

Devices implementing methods according to these disclosures can comprisehardware, firmware and/or software, and can take any of a variety ofform factors. Typical examples of such form factors include servers,laptops, smartphones, small form factor personal computers, personaldigital assistants, and so on. The functionality described herein alsocan be embodied in peripherals or add-in cards. Such functionality canalso be implemented on a circuit board among different chips ordifferent processes executing in a single device, by way of furtherexample.

The instructions, media for conveying such instructions, computingresources for executing them, and other structures for supporting suchcomputing resources are means for providing the functions described inthese disclosures.

Although a variety of examples and other information was used to explainaspects within the scope of the appended claims, no limitation of theclaims should be implied based on particular features or arrangements insuch examples, as one of ordinary skill would be able to use theseexamples to derive a wide variety of implementations. Further andalthough some subject matter may have been described in languagespecific to examples of structural features and/or method steps, it isto be understood that the subject matter defined in the appended claimsis not necessarily limited to these described features or acts. Forexample, such functionality can be distributed differently or performedin components other than those identified herein. Rather, the describedfeatures and steps are disclosed as examples of components of systemsand methods within the scope of the appended claims.

Claim language reciting “at least one of” a set indicates that onemember of the set or multiple members of the set satisfy the claim. Forexample, claim language reciting “at least one of A and B” means A, B,or A and B.

What is claimed is:
 1. A system comprising: a sensor positioningplatform coupled to an autonomous vehicle, the sensor positioningplatform comprising a sensor carrier structure rotatably coupled to abase, wherein the sensor carrier structure comprises a plurality ofsensors and the base comprises an actuator system configured to rotatethe sensor carrier structure relative to the base; a rotary cableassembly on the sensor positioning platform, the rotary cable assemblycomprising: a first portion having a spool, a sidewall surrounding thespool to form a cavity therein, and a shaft extending from the spool; asecond portion coupled to the shaft, the second portion being configuredto rotate with respect to the first portion, a flexible electrical cablestored by the spool in a coiled configuration within the cavity; a firstcircuit board on the first portion, the first circuit board comprising afirst connector electrically coupled to a first end of the flexibleelectrical cable, the first connector being configured to connect to oneor more electrical components on at least one of the base and theautonomous vehicle; and a second circuit board on the second portion,the second circuit board comprising a second connector electricallycoupled to a second end of the flexible electrical cable, the secondcircuit board being configured to rotate with the second portion; andone or more electrical cables connecting the plurality of sensors on thesensor carrier structure to the second connector of the second circuitboard on the second portion.
 2. The system of claim 1, wherein the firstportion of the rotary cable assembly remains stationary relative to thesensor carrier structure when the sensor carrier structure is rotated bythe actuator system.
 3. The system of claim 1, wherein the flexibleelectrical cable comprises a flexible printed circuit configured toprovide power and data connectivity to the plurality of sensors on thesensor carrier structure.
 4. The system of claim 3, wherein the flexibleprinted circuit is configured to tighten or loosen when the secondportion of the rotary cable assembly and the second circuit board rotatearound an axis of the first portion of the rotary cable assembly, andwherein the flexible printed circuit tightens or loosens at least partlybased on a rotation of the sensor carrier structure.
 5. The system ofclaim 1, wherein the rotary cable assembly is located on a portion ofthe base that remains stationary relative to the sensor carrierstructure when the sensor carrier structure is moved or repositioned bythe actuator system, wherein the second portion of the rotary cableassembly and the second circuit board rotate around an axis of the firstportion of the rotary cable assembly at least partly based on a rotationof the sensor carrier structure.
 6. The system of claim 5, wherein theflexible electrical cable is configured to tighten or loosen at leastpartly based on the rotation of the sensor carrier structure.
 7. Thesystem of claim 1, wherein the one or more electrical cables connect theplurality of sensors on the sensor carrier structure to the secondconnector of the second circuit board on the second portion of therotary cable assembly via at least one connector on the sensor carrierstructure that is electrically coupled to the second connector via atleast one electrical cable.
 8. The system of claim 1, wherein the firstconnector on the first circuit board is configured to connect to the oneor more electrical components on at least one of the base and theautonomous vehicle via a second rotary cable assembly on the sensorpositioning platform.
 9. The system of claim 8, wherein the secondrotary cable assembly comprises: a third portion having a second spool,a second sidewall surrounding the second spool to form a second cavitytherein, and a second shaft extending from the second spool; a fourthportion coupled to the second shaft, the fourth portion being configuredto rotate with respect to the third portion, a second flexibleelectrical cable stored by the second spool in the coiled configurationwithin the second cavity; a third circuit board on the third portion,the third circuit board comprising a third connector electricallycoupled to one end of the second flexible electrical cable, the thirdconnector being configured to connect to the one or more electricalcomponents on at least one of the base and the autonomous vehicle; and afourth circuit board on the fourth portion, the fourth circuit boardcomprising a fourth connector electrically coupled to a different end ofthe second flexible electrical cable, the fourth circuit board beingconfigured to rotate with the fourth portion of the second rotary cableassembly.
 10. The system of claim 1, wherein the actuator systemcomprises a motor configured to move and reposition the sensor carrierstructure and the plurality of sensors on the sensor carrier structureduring an operation of the autonomous vehicle, wherein the plurality ofsensors are configured to gather sensor data before the sensor carrierstructure is moved and repositioned, as the sensor carrier structure ismoved and repositioned, and after the sensor carrier structure is movedand repositioned.
 11. A rotary cable assembly comprising: a firstportion having a spool, a sidewall surrounding the spool to form acavity therein, and a shaft extending from the spool; a second portioncoupled to the shaft, the second portion being configured to rotate withrespect to the first portion, a flexible electrical cable stored by thespool in a coiled configuration within the cavity; a first circuit boardon the first portion, the first circuit board comprising a firstconnector electrically coupled to a first end of the flexible electricalcable, the first connector being configured to connect to one or moreelectrical components on at least one of an autonomous vehicle and abase of a sensor positioning platform coupled to the autonomous vehicle,the sensor positioning platform comprising the rotary cable assembly;and a second circuit board on the second portion, the second circuitboard comprising a second connector electrically coupled to a second endof the flexible electrical cable, the second circuit board beingconfigured to rotate with the second portion, and wherein the secondconnector of the second circuit board is configured to connect to aplurality of sensors on a sensor carrier structure of the sensorpositioning platform via one or more electrical cables.
 12. The rotarycable assembly of claim 11, wherein the base comprises an actuatorsystem, wherein the actuator system is configured to rotate the sensorcarrier structure relative to at least part of the base, and wherein thefirst portion of the rotary cable assembly remains stationary relativeto the sensor carrier structure when the sensor carrier structure isrotated by the actuator system.
 13. The rotary cable assembly of claim11, wherein the flexible electrical cable comprises a flexible printedcircuit configured to provide power and data connectivity to theplurality of sensors on the sensor carrier structure.
 14. The rotarycable assembly of claim 13, wherein the flexible printed circuit isconfigured to tighten or loosen when the second portion of the rotarycable assembly and the second circuit board rotate around an axis of thefirst portion of the rotary cable assembly, and wherein the flexibleprinted circuit tightens or loosens at least partly based on a rotationof the sensor carrier structure.
 15. The rotary cable assembly of claim11, wherein the rotary cable assembly is located on a portion of thebase that remains stationary relative to the sensor carrier structurewhen the sensor carrier structure is moved or repositioned by anactuator system on the base, wherein the second portion of the rotarycable assembly and the second circuit board rotate around an axis of thefirst portion of the rotary cable assembly at least partly based on arotation of the sensor carrier structure.
 16. The rotary cable assemblyof claim 15, wherein the flexible electrical cable is configured totighten or loosen at least partly based on the rotation of the sensorcarrier structure.
 17. The rotary cable assembly of claim 11, whereinthe one or more electrical cables connect the plurality of sensors onthe sensor carrier structure to the second connector of the secondcircuit board via at least one connector on the sensor carrier structurethat is connected to the second connector of the second circuit boardvia at least one electrical cable.
 18. A method comprising: mounting asensor positioning platform to an autonomous vehicle, the sensorpositioning platform comprising a sensor carrier structure rotatablycoupled to a base, wherein the sensor carrier structure comprises aplurality of sensors and the base comprises an actuator systemconfigured to rotate the sensor carrier structure relative to the base;mounting a rotary cable assembly to the sensor positioning platform, therotary cable assembly comprising: a first portion having a spool, asidewall surrounding the spool to form a cavity therein, and a shaftextending from the spool; a second portion coupled to the shaft, thesecond portion being configured to rotate with respect to the firstportion; a flexible electrical cable stored by the spool in a coiledconfiguration within the cavity; a first circuit board on the firstportion, the first circuit board comprising a first connectorelectrically coupled to a first end of the flexible electrical cable,the first connector being configured to connect to one or moreelectrical components on at least one of the base and the autonomousvehicle; and a second circuit board on the second portion, the secondcircuit board comprising a second connector electrically coupled to asecond end of the flexible electrical cable, the second circuit boardbeing configured to rotate with the second portion; and connecting theplurality of sensors on the sensor carrier structure to the secondconnector of the second circuit board on the second portion.
 19. Themethod of claim 18, wherein the first portion of the rotary cableassembly remains stationary relative to the sensor carrier structurewhen the sensor carrier structure is rotated by the actuator system,wherein the flexible electrical cable comprises a flexible printedcircuit configured to provide power and data connectivity to theplurality of sensors on the sensor carrier structure, and wherein theflexible printed circuit is configured to tighten or loosen when thesecond portion of the rotary cable assembly and the second circuit boardrotate around an axis of the first portion of the rotary cable assembly.20. The method of claim 18, wherein the rotary cable assembly is mountedto a portion of the base that remains stationary relative to the sensorcarrier structure when the sensor carrier structure is moved orrepositioned by the actuator system, wherein the second portion of therotary cable assembly and the second circuit board rotate around an axisof the first portion of the rotary cable assembly at least partly basedon a rotation of the sensor carrier structure, and wherein the pluralityof sensors on the sensor carrier structure are connected to the secondconnector of the second circuit board via one or more electrical cablesconnected to at least one connector on the sensor carrier structure.